AR odometry sensor fusion using personal vehicle sensor data
AssigneeSnap Inc.
InventorsEdmund Graves Brown, Benjamin Lucas, Jonathan M. Rodriguez, II, Richard Zhuang
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Abstract
A method of providing an interactive personal mobility system, performed by one or more processors, comprises determining an initial pose by visual-inertial odometry performed on images and inertial measurement unit (IMU) data generated by a wearable augmented reality device. Sensor data transmitted from a personal mobility system is received, and sensor fusion is performed on the data received from the personal mobility system to provide an updated pose. Augmented reality effects are displayed on the wearable augmented reality device based on the updated pose.
Claims20
A method of providing an interactive personal mobility system, performed by one or more processors, comprising:
- determining an initial pose of a wearable augmented reality device by visual-inertial odometry performed on images and inertial measurement unit (IMU) data generated by the wearable augmented reality device moving through a real-world environment;
- receiving, by the one or more processors, motion sensor data transmitted from a personal mobility system;
- performing sensor fusion on the motion sensor data received from the personal mobility system and data for the initial pose thereby to generate an updated pose;
- displaying a particular virtual object on the wearable augmented reality device based on the updated pose, the display of the particular virtual object being fixed relative to a frame of reference of the real-world environment;
- determining a relative position and orientation of the personal mobility system and the wearable augmented reality device based in part on data transmitted from the personal mobility system;
- displaying a further virtual object on the wearable augmented reality device, the display of the further virtual object being fixed relative to a frame of reference of the personal mobility system;
- detecting interaction of a user's body part with the further virtual object;
- and
- in response to detecting the interaction, altering a performance characteristic of the personal mobility system.
A computing apparatus for enabling interactive personal mobility systems comprising:
- one or more processors;
- and
- a memory storing instructions that, when executed by the one or more processors, configure the computing apparatus to perform operations comprising:
- determining an initial pose of a wearable augmented reality device by visual-inertial odometry performed on images and inertial measurement unit (IMU) data generated by the wearable augmented reality device moving through a real-world environment;
- receiving, by the one or more processors, motion sensor data transmitted from a personal mobility system;
- performing sensor fusion on the motion sensor data received from the personal mobility system and data for the initial pose thereby to generate an updated pose;
- displaying a particular virtual object on the wearable augmented reality device based on the updated pose, the display of the particular virtual object being fixed relative to a frame of reference of the real-world environment;
- determining a relative position and orientation of the personal mobility system and the wearable augmented reality device based in part on data transmitted from the personal mobility system;
- displaying a further virtual object on the wearable augmented reality device, the display of the further virtual object being fixed relative to a frame of reference of the personal mobility system;
- detecting interaction of a user's body part with the further virtual object;
- and
- in response to detecting the interaction, altering a performance characteristic of the personal mobility system.
A non-transitory computer-readable storage medium, the computer-readable storage medium including instructions that when executed by a computer, cause the computer to perform operations comprising:
- determining an initial pose of a wearable augmented reality device by visual-inertial odometry performed on images and inertial measurement unit (IMU) data generated by the wearable augmented reality device moving through a real-world environment;
- receiving, by the computer, motion sensor data transmitted from a personal mobility system;
- performing sensor fusion on the motion sensor data received from the personal mobility system and data for the initial pose thereby to generate an updated pose;
- displaying a particular virtual object on the wearable augmented reality device based on the updated pose, the display of the particular virtual object being fixed relative to a frame of reference of the real-world environment;
- determining a relative position and orientation of the personal mobility system and the wearable augmented reality device based in part on data transmitted from the personal mobility system;
- displaying a further virtual object on the wearable augmented reality device, the display of the further-augmented reality effect virtual object being fixed relative to a frame of reference of the personal mobility system;
- detecting interaction of a user's body part with the further virtual object;
- and
- in response to detecting the interaction, altering a performance characteristic of the personal mobility system.
Dependencies are inferred from the claim text.