US 12,249,024 B2
Dual IMU SLAM
Yu-Hsiang Huang, Sunnyvale, CA (US); Evan Gregory Levine, Mountain View, CA (US); Igor Napolskikh, San Francisco, CA (US); Dominik Michael Kasper, Zurich (CH); Manel Quim Sanchez Nicuesa, Zurich (CH); Sergiu Sima, Effretikon (CH); Benjamin Langmann, Zurich (CH); Ashwin Swaminathan, Dublin, CA (US); Martin Georg Zahnert, Zurich (CH); Blazej Marek Czuprynski, Zurich (CH); Joao Antonio Pereira Faro, Lausanne (CH); Christoph Tobler, Zurich (CH); and Omid Ghasemalizadeh, San Jose, CA (US)
Assigned to Magic Leap, Inc., Plantation, FL (US)
Filed by Magic Leap, Inc., Plantation, FL (US)
Filed on Feb. 12, 2024, as Appl. No. 18/439,653.
Application 18/439,653 is a continuation of application No. 17/715,880, filed on Apr. 7, 2022, granted, now 11,935,180.
Application 17/715,880 is a continuation of application No. 17/072,825, filed on Oct. 16, 2020, granted, now 11,328,475, issued on May 10, 2022.
Claims priority of provisional application 63/076,251, filed on Sep. 9, 2020.
Claims priority of provisional application 62/923,317, filed on Oct. 18, 2019.
Prior Publication US 2024/0185510 A1, Jun. 6, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 15/20 (2011.01); G01C 19/00 (2013.01); G01P 7/00 (2006.01); G01P 13/00 (2006.01); G01P 15/08 (2006.01); G06F 3/01 (2006.01); G06T 19/00 (2011.01)
CPC G06T 15/20 (2013.01) [G01C 19/00 (2013.01); G01P 7/00 (2013.01); G01P 13/00 (2013.01); G01P 15/08 (2013.01); G06F 3/011 (2013.01); G06T 19/006 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, via a first inertial measurement unit (IMU) of a wearable head device, first inertial data and third inertial data;
receiving, via a second IMU of the wearable head device, second inertial data and fourth inertial data;
calculating a first preintegration term based on one or more of the first inertial data and the second inertial data;
calculating a second preintegration term based on one or more of the third inertial data and the fourth inertial data;
estimating a position of the wearable head device based on a combination of the first preintegration term and the second preintegration term; and
presenting virtual content, via a display of the wearable head device, based on the estimated position of the wearable head device.