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US 10,466,953 B2Granted
Sharing neighboring map data across devices
AssigneeMicrosoft Technology Licensing, LLC
InventorsEthan Eade, Jeroen Vanturennout, Jonathan Lyons, David Fields, Gavin Dean Lazarow, Tushar Cyril Bhatnagar
Life of this patent
Estimating the term…
Abstract
A computing device and method are provided for transmitting a relevant subset of map data, called a neighborhood, to enable mutual spatial understanding by multiple display devices around a target virtual location to display a shared hologram in the same exact location in the physical environment at the same moment in time. The computing device may comprise a processor, a memory operatively coupled to the processor, and an anchor transfer program stored in the memory and executed by the processor.
Claims18
A server computing device, comprising:
- a processor;
- a non-volatile storage device operatively coupled to the processor;
- and
- an anchor transfer program stored in the non-volatile storage device and executed by the processor of the computing device, wherein
- the anchor transfer program is configured to:
- receive a transfer request from a first display device to transfer anchor data of a target virtual place-located anchor of one or more holograms at a target virtual location to a second display device, the transfer request initiated by a user via the first display device and specifying the target virtual place-located anchor, the anchor data comprising neighboring map data corresponding to the target virtual location for the specified target virtual place-located anchor, the neighboring map data being map data of a neighborhood in a vicinity around the target virtual location including pose graphs created by sensor measurements performed by the first display device;
- retrieve and transmit the anchor data to the second display device responsive to the transfer request;
- cause the second display device to incorporate, via a stitching process, the neighboring map data into existing map data of the second display device, the stitching process including stitching together the pose graphs of the neighboring map data created by the first display device and the existing map data of the second display device by applying a common global coordinate system corresponding to an aligned three-dimensional coordinate space of the neighborhood;
- and
- cause the second display device to display the one or more holograms at the target virtual place-located anchor at the target virtual location from a vantage point of the second display device based on the incorporated map data and the existing map data of the second display device.
7 more elements
A method, comprising:
- receiving a transfer request from a first display device to transfer anchor data of a target virtual place-located anchor of one or more holograms at a target virtual location to a second display device, the transfer request initiated by a user via the first display device and specifying the target virtual place-located anchor, the anchor data comprising neighboring map data corresponding to the target virtual location for the specified target virtual place-located anchor, the neighboring map data being map data of a neighborhood in a vicinity around the target virtual location including pose graphs created by sensor measurements performed by the first display device;
- retrieving and transmitting the anchor data to the second display device responsive to the transfer request;
- and
- subsequent to the first display device transferring anchor data to the second display device, causing the second display device to incorporate, via a stitching process, the neighboring map data into existing map data of the second display device, and causing the second display device to display the one or more holograms at the target virtual place-located anchor at the target virtual location from a vantage point of the second display device based on the incorporated map data and the existing map data of the second display device, the stitching process including stitching together the pose graphs of the neighboring map data created by the first display device and the existing map data of the second display device by applying a common global coordinate system corresponding to an aligned three-dimensional coordinate space of the neighborhood.
1 more element
A server computing device, comprising:
- a processor;
- a non-volatile storage device operatively coupled to the processor;
- and
- an anchor transfer program stored in the non-volatile storage device and executed by the processor of the computing device, wherein
- the anchor transfer program is configured to:
- receive a transfer request from a first display device to transfer anchor data of a target virtual place-located anchor of one or more holograms at a target virtual location to a second display device, the transfer request initiated by a user via the first display device and specifying the target virtual place-located anchor, the anchor data comprising neighboring map data corresponding to the target virtual location for the specified target virtual place-located anchor, the neighboring map data being map data of a neighborhood in a vicinity around the target virtual location including pose graphs created by sensor measurements performed by the first display device;
- retrieve and transmit the anchor data to the second display device responsive to the transfer request;
- cause the second display device to incorporate, via a stitching process, the neighboring map data into existing map data of the second display device, the stitching process including stitching together the pose graphs of the neighboring map data created by the first display device and the existing map data of the second display device by applying a common global coordinate system corresponding to an aligned three-dimensional coordinate space of the neighborhood;
- and
- cause the second display device to align movements in aligned coordinate space with the first display device based on the incorporated map data and the existing map data of the second display device,
- wherein the first and second display devices are configured to be autonomous robots.
8 more elements
Dependencies are inferred from the claim text.