US 11,885,871 B2
Radar head pose localization
Alexander Ilic, Zurich (CH); Martin Georg Zahnert, Zurich (CH); and Koon Keong Shee, Miramar, FL (US)
Assigned to Magic Leap, Inc., Plantation, FL (US)
Appl. No. 17/058,586
Filed by Magic Leap, Inc., Plantation, FL (US)
PCT Filed May 24, 2019, PCT No. PCT/US2019/033987
§ 371(c)(1), (2) Date Nov. 24, 2020,
PCT Pub. No. WO2019/231850, PCT Pub. Date Dec. 5, 2019.
Claims priority of provisional application 62/678,621, filed on May 31, 2018.
Prior Publication US 2021/0141076 A1, May 13, 2021
Int. Cl. G01S 13/58 (2006.01); G01S 13/536 (2006.01); G02B 27/01 (2006.01); G06V 20/64 (2022.01); G06F 18/25 (2023.01)
CPC G01S 13/536 (2013.01) [G01S 13/582 (2013.01); G01S 13/587 (2013.01); G01S 13/588 (2013.01); G02B 27/0172 (2013.01); G06F 18/25 (2023.01); G06V 20/653 (2022.01)] 20 Claims
OG exemplary drawing
 
1. An augmented reality device comprising:
a head-mountable frame;
a radar system that generates first and second sets of radar fingerprints of locations of real-world objects relative to the user at first and second times;
a measurement unit, secured to the frame, and detecting first and second measurement values at the first and second times, each measurement value being indicative of at least one of position and movement of the measurement unit;
a measurement unit filter connected to the measurement unit;
a sensor fusion module connected to the radar system and the measurement unit and operable to (i) determine first and second pose estimates, the first pose estimate being based on the first set of radar fingerprints relative to the first measurement value and the second pose estimate being based on the second set of radar fingerprints relative to the second measurement value, (ii) determine a drift of the measurement unit by comparing the first pose estimate with the second pose estimate, and (iii) adjust the measurement unit filter to correct for the drift;
a rendering module to determine a desired position of a rendered object based on the second pose;
an eyepiece secured to the frame; and
a projector secured to the frame and operable to convert data into light to generate the rendered object and displaying the rendered object in the desired position to the user through the eyepiece.