US 12,223,591 B2
Cross reality system for large scale environment reconstruction
Yilun Cao, San Jose, CA (US); Mohan Babu Kandra, San Ramon, CA (US); David Geoffrey Molyneaux, San Jose, CA (US); Daniel Olshansky, Mountain View, CA (US); David Paul Pena, Los Altos, CA (US); Frank Thomas Steinbrücker, Mountain View, CA (US); and Rafael Domingos Torres, Boca Raton, FL (US)
Assigned to Magic Leap, Inc., Plantation, FL (US)
Filed by Magic Leap, Inc., Plantation, FL (US)
Filed on Mar. 7, 2024, as Appl. No. 18/599,083.
Application 18/599,083 is a continuation of application No. 18/318,528, filed on May 16, 2023, granted, now 11,967,021.
Application 18/318,528 is a continuation of application No. 17/949,599, filed on Sep. 21, 2022, granted, now 11,694,394, issued on Jul. 4, 2023.
Application 17/949,599 is a continuation of application No. 17/185,558, filed on Feb. 25, 2021, granted, now 11,501,489, issued on Nov. 15, 2022.
Claims priority of provisional application 62/982,694, filed on Feb. 27, 2020.
Prior Publication US 2024/0212271 A1, Jun. 27, 2024
Int. Cl. G06T 17/00 (2006.01); G06F 3/01 (2006.01); G06T 7/55 (2017.01); G06T 19/00 (2011.01)
CPC G06T 17/00 (2013.01) [G06F 3/012 (2013.01); G06T 7/55 (2017.01); G06T 19/006 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20221 (2013.01); G06T 2219/024 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An extended-reality or cross-reality system comprising a wearable system for rendering virtual content, the wearable system further comprising:
a head unit comprising a display system and a plurality of sensor units and located in a physical environment in a first instance of the wearable system in a first session at a first time point; and
a non-transitory computer readable storage medium storing thereupon a plurality of modules, the plurality of modules comprising:
a coordinate system module that comprises a persistent coordinate frame (PCF) system;
a plurality of transform modules that performs one or more transformations pertaining to a local coordinate frame and a camera coordinate frame; and
a processor executing a sequence of instructions, wherein execution of the sequence of instructions causes the processor to perform a set of acts, the set of acts comprising:
persisting, by the persistent coordinate frame system, a virtual content in the physical environment from a first perspective when viewing the virtual content through the wearable system in the first instance of the wearable system in the first session, wherein
the virtual content is spatially persisted in the physical environment to prevent the virtual content from appearing out of place from a second perspective when viewing the virtual content from or through the wearable system in a second instance of the wearable system in a second session at a second time point based at least in part upon a result of the one or more transformations.