US 11,854,231 B2
Localizing an augmented reality device
Maria Jose Garcia Sopo, London (GB); Qi Pan, London (GB); and Edward James Rosten, London (GB)
Assigned to Snap Inc., Santa Monica, CA (US)
Filed by Snap Inc., Santa Monica, CA (US)
Filed on Jan. 31, 2022, as Appl. No. 17/589,523.
Application 17/589,523 is a continuation of application No. 15/929,976, filed on Jun. 1, 2020, granted, now 11,276,201.
Prior Publication US 2022/0156976 A1, May 19, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/73 (2017.01); G06T 19/00 (2011.01)
CPC G06T 7/75 (2017.01) [G06T 19/006 (2013.01); G06T 2207/30244 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method, executed by one or more processors, of determining a pose of an augmented reality device, comprising:
capturing an image of a scene having a number of features;
extracting descriptors of features of the scene represented in the image;
matching the descriptors to landmarks in an existing 3D model of the scene to generate sets of matches between the descriptors and the landmarks;
determining an observed location measurement;
generating estimated poses of the augmented reality device from at least some of the sets of matches between the descriptors and the landmarks;
determining deviations between an aspect of each of the estimated poses and the observed location measurement; and
eliminating estimated poses having deviations from the observed location measurement that are greater than a threshold value,
wherein the deviations are horizontal distances between the estimated poses and the observed location measurement and the threshold value is a horizontal accuracy of the observed location measurement, or wherein the deviations are vertical distances between the estimated poses and the observed location measurement and the threshold value is a vertical accuracy of the observed location measurement.