# US 10,482,663 B2 · Virtual cues for augmented-reality pose alignment > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,482,663 B2 - Document ID: US10482663B2 - Status: Granted - Kind: B2 - Application number: 15/336,392 - Filed: 2016-10-27 - Published: 2017-10-05 - Granted: 2019-11-19 - Earliest claimed: 2016-03-29 - Assignees: Microsoft Technology Licensing, LLC - Applicants: Microsoft Technology Licensing, LLC - Inventors: Marcus Ghaly; Andrew Jackson; Jeff Smith; Michael Scavezze; Ronald Amador-Leon; Cameron Brown; Charlene Jeune - Web page: https://patentgrep.com/patent/US10482663B2 ## CPC - G06T 19/006: {Mixed reality (object pose determination, tracking or camera calibration for mixed reality G06T7/00)} - G02B 27/0172: {characterised by optical features} - G06T 7/30: Determination of transform parameters for the alignment of images, i.e. image registration - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - H04N 13/128: Adjusting depth or disparity - H04N 13/204: using stereoscopic image cameras (stereoscopic photography G03B35/00) - H04N 13/344: with head-mounted left-right displays - H04N 23/63: by using electronic viewfinders - H04N 23/64: {Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image} - G02B 2027/0138: {comprising image capture systems, e.g. camera} - G02B 2027/0141: {characterised by the informative content of the display} - G02B 2027/0178: {Eyeglass type (eyeglass details G02C)} - G06F 3/167: {Audio in a user interface, e.g. using voice commands for navigating, audio feedback} - G06T 2200/04: involving 3D image data - G06T 2207/30244: Camera pose - H04N 13/271: wherein the generated image signals comprise depth maps or disparity maps - H04N 2013/0081: {Depth or disparity estimation from stereoscopic image signals} - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract A method includes determining a current pose of an augmented reality device in a physical space, and visually presenting, via a display of the augmented reality device, an augmented-reality view of the physical space including a predetermined pose cue indicating a predetermined pose in the physical space and a current pose cue indicating the current pose in the physical space. ## Claims ### Claim 1 A method comprising: determining a current pose of an augmented-reality device in a physical space; visually presenting, via a display of the augmented-reality device, an augmented-reality view of the physical space including a predetermined pose cue indicating a predetermined pose in the physical space and a current pose cue indicating the current pose in the physical space, wherein the current pose cue includes a virtual object overlaid on a current field of view of the display and has a device-locked position such that the current pose cue appears to occupy a same portion of the display and appears to be a same distance in front of the augmented-reality device even as the current pose of the augmented-reality device changes, and wherein the current pose cue aligns with the predetermined pose cue when the current pose aligns with the predetermined pose; and visually replacing, via the display, the predetermined pose cue and the current pose cue with a visual alignment cue in response to the current pose being aligned with the predetermined pose in the physical space, the visual alignment cue indicating that the current pose of the augmented-reality device in the physical space is aligned with the predetermined pose in the physical space. ### Claim 2 (depends on 1) The method of claim 1, wherein the predetermined pose cue has a world-locked position that is fixed relative to the physical space, and wherein the predetermined pose cue and the current pose cue have a same shape and size when the current pose cue is aligned with the predetermined pose cue. ### Claim 3 (depends on 1) The method of claim 1, wherein the predetermined pose is determined, via a pose sensing system of the augmented-reality device, during capture of a previously-captured image of the physical space. ### Claim 4 (depends on 1) The method of claim 1, further comprising: audibly presenting, via an audio speaker of the augmented-reality device, an audio alignment cue indicating that the current pose cue is at least partially aligned with the predetermined pose cue. ### Claim 5 (depends on 1) The method of claim 1, further comprising: capturing, via a camera of the augmented-reality device, a first image at a first time while the current pose cue is aligned with the predetermined pose cue; and capturing, via the camera, a second image at a second time subsequent to the first time while the current pose cue is aligned with the predetermined pose cue. ### Claim 6 (depends on 1) The method of claim 1, wherein the predetermined pose cue is a first predetermined pose cue, and wherein the method further comprises: capturing, via a camera of the augmented-reality device, a first image while the current pose cue is aligned with the first predetermined pose cue; visually presenting, via the display, a second predetermined pose cue different than the first predetermined pose cue; and capturing, via the camera, a second image while the current pose cue is aligned with the second predetermined pose cue. ### Claim 7 (depends on 1) The method of claim 1, wherein the visual alignment cue has a different visual appearance than the predetermined pose cue and the current pose cue. ### Claim 8 An augmented-reality device, comprising: a camera configured to image a physical space; a pose sensing system configured to determine a current pose of the augmented-reality device in the physical space; a display; a logic machine; and a storage machine holding instructions executable by the logic machine to: receive a predetermined pose in the physical space; visually present, via the display, an augmented-reality view of the physical space including a predetermined pose cue indicating the predetermined pose in the physical space and a current pose cue indicating the current pose in the physical space, wherein the current pose cue includes a virtual object overlaid on a current field of view of the display and has a device-locked position such that the current pose cue appears to occupy a same portion of the display and appears to be a same distance in front of the augmented-reality device even as the current pose of the augmented-reality device changes, and wherein the current pose cue aligns with the predetermined pose cue when the current pose aligns with the predetermined pose; and visually replace, via the display, the predetermined pose cue and the current pose cue with a visual alignment cue in response to the current pose being aligned with the predetermined pose in the physical space, the visual alignment cue indicating that the current pose of the augmented-reality device in the physical space is aligned with the predetermined pose in the physical space. ### Claim 9 (depends on 8) The augmented-reality device of claim 8, wherein the predetermined pose cue has a world-locked position that is fixed relative to the physical space, and wherein the current pose cue has the device-locked position that changes with the current pose of the augmented-reality device. ### Claim 10 (depends on 8) The augmented-reality device of claim 8, wherein the predetermined pose cue, the current pose cue, and the visual alignment cue are visually different from each other. ### Claim 11 (depends on 8) The augmented-reality device of claim 8, further comprising: an audio speaker; and wherein the storage machine further holds instructions executable by the logic machine to: audibly present, via the audio speaker, an audio alignment cue indicating that the current pose cue is at least partially aligned with the predetermined pose cue. ### Claim 12 (depends on 8) The augmented-reality device of claim 8, wherein the predetermined pose is determined, via the pose sensing system, during capture of a previously-captured image of the physical space. ### Claim 13 (depends on 12) The augmented-reality device of claim 12, wherein the predetermined pose cue includes the previously-captured image with a world-locked position at the predetermined pose. ### Claim 14 (depends on 8) The augmented-reality device of claim 8, wherein the predetermined pose cue at least partially indicates a field of view from the predetermined pose, and wherein the current pose cue at least partially indicates a field of view of the current pose. ### Claim 15 (depends on 8) The augmented-reality device of claim 8, wherein the predetermined pose cue includes a first set of coplanar markers, and wherein the current pose cue includes a second set of coplanar markers. ### Claim 16 (depends on 8) The augmented-reality device of claim 8, wherein the storage machine further holds instructions executable by the logic machine to: capture, via the camera, a first image of the physical space at a first time while the current pose cue is aligned with the predetermined pose cue in the augmented-reality view; and capture, via the camera, a second image of the physical space at a second time subsequent to the first time while the current pose cue is aligned with the predetermined pose cue in the augmented-reality view. ### Claim 17 (depends on 8) The augmented-reality device of claim 8, wherein the predetermined pose cue is a first predetermined pose cue, and wherein the storage machine further holds instructions executable by the logic machine to: capture, via the camera, a first image of the physical space while the current pose cue is aligned with the first predetermined pose cue; visually present, via the display, a second predetermined pose cue different than the first predetermined pose cue; and capture, via the camera, a second image while the current pose cue is aligned with the second predetermined pose cue. ### Claim 18 (depends on 8) The augmented-reality device of claim 8, wherein the visual alignment cue has a different visual appearance than the predetermined pose cue and the current pose cue. ### Claim 19 A method comprising: receiving a previous pose assumed by an augmented-reality device during capture of a previously-captured image of a physical space by a camera of the augmented-reality device; determining a current pose of the augmented-reality device in the physical space; visually presenting, via a display of the augmented-reality device, an augmented-reality view of the physical space including a predetermined pose cue and a current pose cue, wherein the predetermined pose cue indicates the predetermined pose in the physical space and has a world-locked position that is fixed relative to the physical space, and wherein the current pose cue indicates the current pose in the physical space and includes a virtual object overlaid on a current field of view of the display that has a device-locked position that changes with the current pose of the augmented-reality device such that the current pose cue appears to occupy a same portion of the display and appears to be a same distance in front of the augmented-reality device even as the current pose of the augmented-reality device changes, and wherein the current pose cue aligns with the predetermined pose cue when the current pose aligns with the predetermined pose; and visually replacing, via the display, the predetermined pose cue and the current pose cue with a visual alignment cue in response to the current pose being aligned with the predetermined pose in the physical space, the visual alignment cue indicating that the current pose of the augmented-reality device in the physical space is aligned with the predetermined pose in the physical space. ### Claim 20 (depends on 19) The method of claim 19, wherein the visual alignment cue has a different visual appearance than the predetermined pose cue and the current pose cue.