US 9,805,512 B1Granted

Stereo-based calibration apparatus

AssigneeOculus VR, LLC

InventorsDov Katz, Jennifer Leigh Dolson, Simon Hallam, Kieran Tobias Levin, Eric Loren Vaughan, Klas Petter Ivmark, Andrew Melim

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Abstract

A virtual reality (VR) headset calibration system calibrates a VR headset, which includes a plurality of locators and an inertial measurement unit (IMU) generating output signals indicative of motion of the VR headset. The system comprises a calibration controller configured to receive a headset model of the VR headset that identifies expected positions of each of the locators. The controller controls cameras to capture images of the VR headset while the headset is moved along a predetermined path. The images detect actual positions of the locators during the movement along the predetermined path. Calibration parameters for the locators are generated based on differences between the actual positions and the expected positions. Calibration parameters for the IMU are generated based on the calibration parameters for the locators and differences between expected and actual signals output by the IMU. The calibration parameters are stored to the VR headset.

Claims20

Dependent claims

A method comprising:

accessing a memory that stores a set of expected positions of a plurality of locators on a virtual reality (VR) headset;
capturing a plurality of images of the VR headset in a plurality of positions as the VR headset is moved along a predetermined path through a space imaged by a plurality of cameras, the captured images detecting actual positions of the plurality of locators on the VR headset;
using images captured at each position of the VR headset:
identifying the respective position of the VR headset in the space;
determining positions of at least a subset of the locators in the space based on the images;
computing a difference between an actual position of each locator in the subset on the VR headset and the expected position of the respective locator based on the determined position of the locator in the space and the identified position of the VR headset;
generating calibration parameters for the plurality of locators based on the computed differences;
and
storing the calibration parameters for the plurality of locators to the VR headset, the calibration parameters usable to identify positions and motion of the VR headset during use of the VR headset.

6 more elements

A system comprising:

a plurality of cameras;
an imaging space imaged by the plurality of cameras;
a support arm configured to couple to a virtual reality (VR) headset and move the VR headset along a predetermined path within the imaging space, the VR headset including a plurality of locators;
and
a calibration controller configured to:
accessing a memory that stores a set of expected positions of each of the locators on the VR headset;
control the cameras to capture a plurality of images of the VR headset in each of a plurality of positions while the VR headset is moved along the predetermined path, the captured images detecting actual positions of the plurality of locators on the VR headset;
using images captured at each position of the VR headset:
identify the respective position of the VR headset in the space;
determine positions of at least a subset of the locators in the space based on the images;
compute a difference between an actual position of each locator in the subset on the VR headset and the expected position of the respective locator based on the determined position of the locator in the space and the identified position of the VR headset;
generate calibration parameters for the plurality of locators based on the computed differences;
and
store the calibration parameters for the plurality of locators to the VR headset, the calibration parameters usable to identify positions of the VR headset during use of the VR headset.

11 more elements

Dependencies are inferred from the claim text.