US 11,900,550 B2
AR odometry using sensor data from a personal vehicle
Edmund Graves Brown, Los Angeles, CA (US); Benjamin Lucas, San Francisco, CA (US); Jonathan M. Rodriguez, II, La Habra, CA (US); and Richard Zhuang, San Diego, CA (US)
Assigned to SNAP INC., Santa Monica, CA (US)
Filed by Snap Inc., Santa Monica, CA (US)
Filed on Dec. 23, 2021, as Appl. No. 17/561,645.
Application 17/561,645 is a continuation in part of application No. 17/490,915, filed on Sep. 30, 2021.
Prior Publication US 2023/0105428 A1, Apr. 6, 2023
Int. Cl. G06T 19/00 (2011.01); G02B 27/01 (2006.01); B60L 15/20 (2006.01); G01C 22/02 (2006.01); B60L 3/12 (2006.01)
CPC G06T 19/006 (2013.01) [B60L 3/12 (2013.01); B60L 15/2036 (2013.01); G01C 22/025 (2013.01); G02B 27/017 (2013.01); G02B 2027/0178 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method of providing an interactive personal mobility system, performed by one or more processors, comprising:
determining an initial pose by visual-inertial odometry performed on images and inertial measurement unit (IMU) data generated by a wearable augmented reality device;
receiving linear motion sensor data transmitted from a personal mobility system;
performing sensor fusion on the linear motion sensor data received from the personal mobility system and data for the initial pose thereby to generate an updated pose;
determining a relative position and orientation of the personal mobility system and the wearable augmented reality device based in part on data transmitted from the personal mobility system;
displaying a particular augmented reality effect on the wearable augmented reality device based on the updated pose and the relative position and orientation of the personal mobility system and the wearable augmented reality device, the display of the particular augmented reality effect being fixed relative to a frame of reference of the personal mobility system;
detecting user interaction with the particular augmented reality effect; and
in response to detecting the user interaction, altering a maximum speed or an available power of the personal mobility system.