Multi-camera high speed simultaneous localization and mapping (SLAM) for a head mounted display

An apparatus, comprising:

• a second compute device including:
• a first camera having a first Field-of-View (FOV), and
• a first sensor;
• and
• a first compute device configured to be communicatively coupled to the second compute device, the first compute device including:
• a second camera having a second FOV greater than the first FOV,
• a second sensor,
• a display,
• a processor, and
• a non-transitory, processor-readable medium storing instructions that, when executed by the processor, cause the processor to:
• receive a map of a 3D scene;
• locate, based on a sensor fusion of the second camera and the second sensor, the first compute device in the map of the 3D scene to define a first device location;
• calculate, based on the map of the 3D scene and the first sensor, a relative pose of the second compute device with respect to the first compute device location;
• determine, based on the relative pose of the second compute device, a region of overlap between the first FOV and the second FOV;
• identify, based on the region of overlap, an occluded portion of the second FOV, the occluded portion of the second FOV being a visible portion of the first FOV;
• and
• send a signal to cause the display to project a plurality of image frames within the second FOV and to reproject the visible portion of the first FOV.

A non-transitory, processor-readable medium storing instructions that, when executed by a processor, cause the processor to:

• receive a first plurality of image frames from a first sensor of a first compute device;
• receive a second plurality of image frames from a second sensor of a second compute device;
• determine a relative image quality between the first plurality of image frames and the second plurality of image frames to define a quality plurality of image frames;
• generate a map of a 3D scene based on the quality plurality of image frames;
• locate, based on a sensor fusion of the first sensor and a third sensor of the first compute device, the first compute device in the map of the 3D scene to define a first compute device location;
• match a plurality of features in the second plurality of image frames to a plurality of features in the map of the 3D scene, to define a region of overlap between the first plurality of image frames and the second plurality of image frames;
• calculate, based on the region of overlap, a relative pose of the second compute device with respect to the first compute device location;
• send a first signal to cause a display to project the first plurality of image frames;
• and
• send a second signal to cause the display to project a visual indicator of a field of view (FOV) of the second compute device, based on the relative pose of the second compute device.