Lightweight cross reality device with passive depth extraction

A wearable display system, the wearable display system comprising:

• a headset comprising one first camera with a global shutter and one second camera with a rolling shutter, the first camera and the second camera positioned so as to provide overlapping views of a central view field;
• and
• a processor operatively coupled to the first camera and the second camera and configured to:
• perform a compensation routine to adjust images acquired using the second camera for rolling shutter image distortion, wherein the compensation routine comprises:
• comparing a first image acquired using the first camera to a second image acquired using the second camera to detect a skew in at least part of the second image;
• and
• adjusting the at least part of the second image to compensate for the detected skew;
• and
• create a world model using, in part, depth information stereoscopically determined from images acquired using the first camera and the adjusted images.

A method of creating a world model using a wearable display system, the wearable display system comprising:

• a headset comprising one first camera with a global shutter and one second camera with a rolling shutter, the first camera and the second camera positioned so as to provide overlapping views of a central view field;
• and
• a processor operatively coupled to the first camera and the second camera;
• wherein the method comprises using the processor to:
• perform a compensation routine to adjust rolling shutter images acquired using the second camera for rolling shutter image distortion;
• stereoscopically determine depth information from global shutter images acquired using the first camera and the adjusted rolling shutter images from the second camera;
• and
• create the world model using, in part, the depth information stereoscopically determined from the global shutter images acquired using the first camera and the adjusted rolling shutter images.