US 12,260,588 B2
Depth-from-stereo bending correction using visual inertial odometry features
Sagi Katz, Yokneam Ilit (IL); and Matthias Kalkgruber, Vienna (AT)
Assigned to SNAP INC., Santa Monica, CA (US)
Filed by Snap Inc., Santa Monica, CA (US)
Filed on Sep. 27, 2023, as Appl. No. 18/373,554.
Application 18/373,554 is a continuation of application No. 17/480,405, filed on Sep. 21, 2021, granted, now 11,854,227.
Claims priority of provisional application 63/188,815, filed on May 14, 2021.
Prior Publication US 2024/0029302 A1, Jan. 25, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/33 (2017.01); G06T 7/593 (2017.01); G06T 7/73 (2017.01); G06T 19/00 (2011.01); H04N 13/239 (2018.01)
CPC G06T 7/74 (2017.01) [G06T 7/33 (2017.01); G06T 7/593 (2017.01); G06T 19/006 (2013.01); G06T 2207/10012 (2013.01); H04N 13/239 (2018.05)] 20 Claims
OG exemplary drawing
 
1. A method for correcting a bending of a flexible device comprising:
accessing feature data of a first stereo frame that is generated by stereo optical sensors of the flexible device, the feature data generated based on a visual-inertial odometry (VIO) system of the flexible device;
accessing depth map data of the first stereo frame, the depth map data generated based on a depth map system of the flexible device;
estimating a yaw bias based on the feature data and the depth map data of the first stereo frame by: identifying three-dimensional landmarks of the first stereo frame using the VIO system, projecting the three-dimensional landmarks on a two-dimensional disparity map, and computing the yaw bias based on the two-dimensional disparity map; and
generating a second stereo frame after the first stereo frame, the second stereo frame based on the yaw bias of the first stereo frame.