Recalibration of a flexible mixed reality device

A head mounted, mixed reality display system comprising:

• a frame including a flexible frame portion positioned in between see-through displays positioned by the frame and positioned in between outward facing, digital image data capturing cameras supported by the frame such that a first spatial relationship between the displays changes when the flexible frame portion flexes and such that a second spatial relationship between the cameras correspondingly changes when the flexible frame portion flexes;
• each display being positioned by the frame to be seen by a respective eye;
• each outward facing camera being configured for capturing image data of a real object in a field of view of a respective one of the see-through displays and having a fixed spatial relationship with respect to its respective see-through display thus providing for a fixed mapping from position coordinates on an image sensor of the outward facing camera to positions coordinates on the respective see-through display;
• a memory operatively coupled to the cameras for storing corresponding image data respectively captured by the cameras of a common real object in the respective fields of views of the cameras, the memory being further operatively coupled to store data representing the second spatial relationship and to store data representing the respective fixed spatial relationship for each outward facing camera and its respective display;
• and
• one or more processors having access to the memory and being communicatively coupled to the cameras and displays, the one or more processors being configured to automatically detect a change in the second spatial relationship of the outward facing cameras relative to each other based on respective image data provided by the outward facing cameras and to automatically update a registration between a position of the common real object and a position of a virtual object responsive to the determined change in the second spatial relationship between the outward facing cameras.

One or more processor readable storage devices having instructions encoded thereon which when executed cause one or more processors to perform a method of recalibrating a head mounted, mixed reality display system having a flexible frame portion disposed between displays such that a first spatial relationship between the displays changes when the flexible frame portion flexes, the displays respectively including respective see-through displays, the method comprising:

• automatically detecting a change in a second spatial relationship between outward facing and digital image data capturing cameras supported by the frame of the head mounted, mixed reality display system, the frame positioning the see-through displays to be seen through by user eyes, each outward facing camera having a fixed spatial relationship with respect to a corresponding one of the see-through displays thus providing for a fixed mapping from position coordinates on an image sensor of the outward facing camera to position coordinates on the corresponding see-through display;
• determining a current spatial relationship between the outward facing cameras based on photogrammetry with respect to overlapping image data captured by the outward facing cameras and a scale based on a predetermined geometrical measurement in a field of view of the outward facing cameras;
• and
• updating a registration between a position of a real object and a position of a virtual object on at least one see-through display based on the determined current spatial relationship and the fixed spatial relationship of each outward facing camera with respect to its respective see-through display.