US 12,406,397 B2
Concurrent camera calibration and bundle adjustment
Mohamed Souiai, Plantation, FL (US); Ankur Gupta, Plantation, FL (US); and Igor Napolskikh, Plantation, FL (US)
Assigned to Magic Leap, Inc., Plantation, FL (US)
Appl. No. 18/245,816
Filed by Magic Leap, Inc., Plantation, FL (US)
PCT Filed Aug. 17, 2021, PCT No. PCT/US2021/046241
§ 371(c)(1), (2) Date Mar. 17, 2023,
PCT Pub. No. WO2022/060507, PCT Pub. Date Mar. 24, 2022.
Claims priority of provisional application 63/079,809, filed on Sep. 17, 2020.
Prior Publication US 2024/0046521 A1, Feb. 8, 2024
Int. Cl. G06T 7/80 (2017.01); G06T 19/00 (2011.01)
CPC G06T 7/85 (2017.01) [G06T 19/00 (2013.01); G06T 2207/10012 (2013.01); G06T 2207/30244 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
maintaining, in memory:
a three-dimensional model of an environment, and
a plurality of image data clusters that each include data generated from images captured by two or more cameras included in a device, wherein the images represent a portion of the environment in which the device was located; and
jointly determining, for a three-dimensional point represented by an image data cluster from the plurality of image data clusters and using (i) previously estimated coordinates for the three-dimensional point, (ii) the image data cluster, (iii) previously estimated calibration data that represents a spatial relationship between the two or more cameras, (iv) newly estimated coordinates for the three-dimensional point, and (v) newly estimated calibration data that represents the spatial relationship between the two or more cameras:
the newly estimated coordinates for the three-dimensional point for an update to the three-dimensional model or a trajectory of the device; and
the newly estimated calibration data that represents the spatial relationship between the two or more cameras.