	US 12,079,382 B2
	Methods and apparatuses for determining and/or evaluating localizing maps of image display devices
Divya Sharma, San Jose, CA (US); Ali Shahrokni, San Jose, CA (US); Anush Mohan, Mountain View, CA (US); Prateek Singhal, Mountain View, CA (US); Xuan Zhao, San Jose, CA (US); Sergiu Sima, Plantation, FL (US); and Benjamin Langmann, Plantation, FL (US)
Assigned to Magic Leap, Inc., Plantation, FL (US)
Filed by MAGIC LEAP, INC., Plantation, FL (US)
Filed on May 9, 2023, as Appl. No. 18/314,289.
Application 18/314,289 is a continuation of application No. 17/500,798, filed on Oct. 13, 2021, granted, now 11,687,151.
Application 17/500,798 is a continuation of application No. 16/520,582, filed on Jul. 24, 2019, granted, now 11,182,614, issued on Nov. 23, 2021.
Claims priority of provisional application 62/702,829, filed on Jul. 24, 2018.
Prior Publication US 2023/0273676 A1, Aug. 31, 2023
Int. Cl. G06T 3/00 (2024.01); G06F 1/16 (2006.01); G06F 3/01 (2006.01); G06T 15/00 (2011.01); G06T 19/00 (2011.01); G06V 20/20 (2022.01)

CPC G06F 3/011 (2013.01) [G06F 1/163 (2013.01); G06T 15/005 (2013.01); G06T 19/006 (2013.01); G06V 20/20 (2022.01)]

20 Claims

1. A method performed by an apparatus that is configured to be worn on a head of a user, the apparatus having a screen configured to present graphics to the user, a camera system configured to view an environment in which the user is located, and a processing unit, the method comprising: obtaining, by the processing unit, output from the camera system; determining a map by the processing unit based at least in part on the output(s) from the camera system, wherein the map is configured for use by the processing unit to localize the user with respect to the environment; and determining, by the processing unit, a score for an image obtained from the camera system, the score indicating how well the image is constrained with respect to a map segment for forming the map, wherein the image is well-constrained when the image forms a well-connected part of the map.