# US 12,770,284 B2 · Update of reprojection information based on head poses > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,770,284 B2 - Document ID: US12770284B2 - Status: Granted - Kind: B2 - Application number: 18/430,370 - Filed: 2024-02-01 - Published: 2025-08-07 - Granted: 2026-10-20 - Earliest claimed: 2024-02-01 - Assignees: QUALCOMM Incorporated - Applicants: QUALCOMM Incorporated - Inventors: Cullum James Baldwin; Girish Bhat; Santhosh Gunna; Wesley James Holland; Mahdi Shaghaghi; Vinay Melkote Krishnaprasad - Web page: https://patentgrep.com/patent/US12770284B2 ## CPC - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06V 10/25: Determination of region of interest [ROI] or a volume of interest [VOI] - H04N 5/74: Projection arrangements for image reproduction, e.g. using eidophor - G06T 2207/20164: Salient point detection; Corner detection - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract Techniques and systems are provided for displaying images. For instance, a process can include determining a portion of reprojection information for the frame based on a second head pose, wherein the second head pose is obtained after the first head pose is obtained; updating the portion of the reprojection information based on a third head pose to generate updated reprojection information, wherein the third head pose is obtained after the second head pose is obtained; applying the updated reprojection information to the frame to generate a reprojected frame; and outputting the reprojected frame for display. ## Claims ### Claim 1 A method for reprojecting images, comprising: receiving a frame rendered based on a first head pose of a user of a display device; determining a portion of reprojection information for the frame based on a second head pose of the user of the display device, wherein the second head pose is obtained after the first head pose is obtained; updating the portion of the reprojection information for the frame based on a third head pose of the user of the display device to generate updated reprojection information, wherein the third head pose is obtained after the second head pose is obtained; applying the updated reprojection information to the frame to generate a reprojected frame; and outputting the reprojected frame for display. ### Claim 2 (depends on 1) The method of claim 1, wherein the portion of the reprojection information includes at least one of a reprojection matrix, an output pixel bounding box, or a raster correction matrix. ### Claim 3 (depends on 2) The method of claim 2, wherein the portion of the reprojection information includes the reprojection matrix, and wherein determining a portion of the reprojection information comprises determining a pre-calculated reprojection matrix based on the second head pose. ### Claim 4 (depends on 3) The method of claim 3, wherein updating the portion of the reprojection information comprises: determining a rotation matrix based on the second head pose and the third head pose; and applying the rotation matrix to the pre-calculated reprojection matrix. ### Claim 5 (depends on 2) The method of claim 2, wherein the portion of the reprojection information includes the output pixel bounding box, wherein determining a portion of the reprojection information comprises estimating an output bounding box for an object in the frame, and wherein applying the updated reprojection information comprises rotating the output bounding box based on a difference between the second head pose and the third head pose. ### Claim 6 (depends on 5) The method of claim 5, wherein the output bounding box is estimated based on corners of the object. ### Claim 7 (depends on 2) The method of claim 2, wherein the portion of the reprojection information includes the raster correction matrix, wherein determining a portion of the reprojection information comprises: determining a raster correction matrix for the frame based on the second head pose; and determining an updated raster correction matrix for the frame based on the third head pose; wherein applying the updated reprojection information comprises applying the updated raster correction matrix to the frame as a part of generating the reprojected frame. ### Claim 8 (depends on 7) The method of claim 7, wherein the updated raster correction matrix is determined based on a Taylor series approximation of a sine of a rotation value of the third head pose relative to the second head pose and a cosine of the rotation value. ### Claim 9 (depends on 1) The method of claim 1, further comprising: determining that a fourth head pose of the user of the display device differs from the second head pose by more than a threshold amount, wherein the fourth head pose is obtained after the second head pose is obtained; entering a higher power state to determine the reprojection information; and generating the reprojected frame based on the reprojection information. ### Claim 10 (depends on 1) The method of claim 1, wherein the portion of the reprojection information is heuristically updated. ### Claim 11 An apparatus for reprojecting images, the apparatus comprising: at least one memory; and at least one processor coupled to the at least one memory, the at least one processor being configured to: receive a frame rendered based on a first head pose of a user of a display device; determine a portion of reprojection information for the frame based on a second head pose of the user of the display device, wherein the second head pose is obtained after the first head pose is obtained; update the portion of the reprojection information for the frame based on a third head pose of the user of the display device to generate updated reprojection information, wherein the third head pose is obtained after the second head pose is obtained; apply the updated reprojection information to the frame to generate a reprojected frame; and output the reprojected frame for display. ### Claim 12 (depends on 11) The apparatus of claim 11, wherein the portion of the reprojection information includes at least one of a reprojection matrix, an output pixel bounding box, or a raster correction matrix. ### Claim 13 (depends on 12) The apparatus of claim 12, wherein the portion of the reprojection information includes the reprojection matrix, and wherein, to determine a portion of the reprojection information, the at least one processor is configured to determine a pre-calculated reprojection matrix based on second head pose. ### Claim 14 (depends on 13) The apparatus of claim 13, wherein, to update the portion of the reprojection information, the at least one processor is configured to: determine a rotation matrix based on the second head pose and third head pose; and apply the rotation matrix to the pre-calculated reprojection matrix. ### Claim 15 (depends on 12) The apparatus of claim 12, wherein the portion of the reprojection information includes the output pixel bounding box, wherein, to determine the portion of the reprojection information, the at least one processor is configured to estimate an output bounding box for an object in the frame, and wherein, to apply the updated reprojection information, the at least one processor is configured to rotate the output bounding box based on a difference between the second head pose and the third head pose. ### Claim 16 (depends on 15) The apparatus of claim 15, wherein the output bounding box is estimated based on corners of the object. ### Claim 17 (depends on 12) The apparatus of claim 12, wherein the portion of the reprojection information includes the raster correction matrix, wherein, to determine the portion of the reprojection information, the at least one processor is configured to: determine a raster correction matrix for the frame based on the second head pose; and determine an updated raster correction matrix for the frame based on the third head pose; wherein, to apply the updated reprojection information, the at least one processor is configured to apply the updated raster correction matrix to the frame as a part of generating the reprojected frame. ### Claim 18 (depends on 17) The apparatus of claim 17, wherein the updated raster correction matrix is determined based on a Taylor series approximation of a sine of a rotation value of the third head pose relative to the second head pose and a cosine of the rotation value. ### Claim 19 (depends on 11) The apparatus of claim 11, wherein the at least one processor is further configured to: determine that a fourth head pose of the user of the display device differs from the second head pose by more than a threshold amount, wherein the fourth head pose is obtained after the second head pose is obtained; enter a higher power state to determine the reprojection information; and generate the reprojected frame based on the reprojection information. ### Claim 20 (depends on 11) The apparatus of claim 11, wherein the apparatus comprises the display device. ### Claim 21 (depends on 11) The apparatus of claim 11, wherein the portion of the reprojection information is heuristically updated. ### Claim 22 A non-transitory computer-readable medium having stored thereon instructions that, when executed by at least one processor, cause the at least one processor to: receive a frame rendered based on a first head pose of a user of a display device; determine a portion of reprojection information for the frame based on a second head pose of the user of the display device, wherein the second head pose is obtained after the first head pose is obtained; update the portion of the reprojection information for the frame based on a third head pose of the user of the display device to generate updated reprojection information, wherein the third head pose is obtained after the second head pose is obtained; apply the updated reprojection information to the frame to generate a reprojected frame; and output the reprojected frame for display.