Patent Application
20190387168
The present disclosure relates to virtual reality and augmented reality imaging and visualization systems and more particularly to performance modulation in a virtual or augmented reality wearable display device and power saving functionality based on the same.
Modern computing and display technologies have facilitated the development of systems for so called “virtual reality”, “augmented reality”, or “mixed reality” experiences, wherein digitally reproduced images or portions thereof are presented to a user in a manner wherein they seem to be, or may be perceived as, real. A virtual reality, or “VR”, scenario typically involves presentation of digital or virtual image information without transparency to other actual real-world visual input; an augmented reality, or “AR”, scenario typically involves presentation of digital or virtual image information as an augmentation to visualization of the actual world around the user; a mixed reality, or “MW”, related to merging real and virtual worlds to produce new environments where physical and virtual objects co-exist and interact in real time. As it turns out, the human visual perception system is very complex, and producing a VR, AR, or MR technology that facilitates a comfortable, natural-feeling, rich presentation of virtual image elements amongst other virtual or real-world imagery elements is challenging. Systems and methods disclosed herein address various challenges related to VR, AR and MR technology.
Various implementations described herein includes an a head mounted display system having a frame configured to be supported on a head of the user. The display can be disposed on the frame. The display may be configured to project light associated with a virtual image into the user's eye to display virtual image content to the user. The display may be further configured to transmit light from the environment to the user's eye to provide a view of a portion of the environment to the user. The display may also include a camera that is configured to obtain images of the environment at a frame rate. The camera can have a field of view and a first frame rate. The display may also have processing electronics that are configured to receive and process images obtained by the camera.
Image processing can include assessing relative motion between the head mounted display and one or more features in the environment. The assessment of relative motion can include determining whether the head mounted display has moved, is moving and/or is expected to move with respect to one or more features in the environment. Additionally or alternatively, the assessment can include determining whether one or more features in the environment have moved, are moving and/or are expected to move relative to the head mounted display. The image processing can further include determining one or more virtual image content locations in the environment that correspond to a location where renderable virtual image content appears to a user when the location appears in the display and comparing the one or more virtual image content locations in the environment with a viewing zone that includes at least a portion of the field of view of the camera.
Based on (i) the assessment of relative motion between the head mounted display and one or more features in said environment and/or (ii) on the comparison of the one or more virtual image content locations in the environment with the viewing zone, the image processing can include altering the frame rate of the camera from a first frame rate to a second frame rate and/or adjusting the amount of processing on the frames obtained by the camera that are processed.
Throughout the drawings, reference numbers may be re-used to indicate correspondence between referenced elements. The drawings are provided to illustrate example embodiments described herein and are not intended to limit the scope of the disclosure.
A wearable device for an AR/VR/MR system can be a head-mounted device (HMD) for presenting three-dimensional (3D) images to a user. An HMD may include a head-mounted display which can render a three-dimensional (3D) virtual object into the user's environment from the perspective of the user's eyes. As a result, the 3D virtual object may be perceived by the user in a similar manner as the real world objects. The HMD can render the 3D virtual object based on a world map which indicates the objects (including virtual objects) in the user's environment. The HMD can illuminate pixels on the display with a color and intensity corresponding to the world map. However, a point in the world map may not have a predetermined rendering location on an HMD since the user's eyes move around. Although the display may be calibrated relative to the user's eyes, such as when the device is first used by the user, such calibration may not always be reliable because the display will not be strongly affixed to the user's head and/or because various frame rates may be used as the user's head moves. For example, the display can move when the user is interacting with it, such as when a user is playing a video game that requires user movement. Further, the display may slip slightly down the user's nose or tilt relative to a line between the user's ears. As a result, the HMD may not be able to provide a realistic presentation of the virtual object due to the shift (such as tilting forward or to one side) of the display. It may also be advantageous to direct scarce power resources to the elements of the HMD (e.g., outward facing camera(s), inward facing camera(s), display elements, etc.). This may involve, for example, adjusting various parameters of the hardware and/or software, such as modulating a frame rate of one or more outward facing cameras.
The techniques described herein are at least in part directed to solving these problems. The inward-facing imaging system of the wearable device can acquire images of the periocular region of the user's face. The wearable device can analyze the periocular images to identify periocular features (e.g., position of the user's eyes). The wearable device can track the periocular features to determine the relative position between the user's eyes and the HMD. Based on this information, the wearable device can dynamically adjust the rendering location of a virtual object (to be displayed by the HMD) to reflect the perspectives of the user's eyes. Accordingly, such embodiments of the HMD can accurately display images to the user even when the HMD slips, moves, or tilts slightly relative to the user's head.
The relative position between the HMD and the user's head can also be used to determine a fit of HMD. The fit may provide an indication on whether to adjust certain parameters of the HMD (e.g., rendering parameters or the position of the frame (e.g., by increasing or decreasing the distances between the left and right ear stems to accommodate a larger or smaller head)) to provide a realistic and immersive visual experience. The HMD can use an inward mapping from an eye-image space of the periocular region to a fit space for the device to determine goodness of fit. The eye-image space may be determined based on images acquired by the inward-facing imaging system, such as for example, images of periocular regions or features. The fit space can include a collection of qualitative or quantities indications for degrees of fit. The HMD can use an outward mapping or other technique to identify one or more features (e.g., corners, edges) of one or more objects in the user's environment. The inward and/or outward mappings may be learned by a machine learning technique such as, e.g., a deep neural network. The inward mapping can be used to identify features in the user's periocular region and use the identified features to determine relative positions between the HMD and the user's face or to classify goodness of fit. The HMD can provide an indication on whether the HMD fits the user's face based on the relative position or other features learned by the machine learning technique. The HMD can also adjust the projection of light from the 3D display based on the relative position of the HMD with respect to the user's head so that the light (e.g., a light field) is accurately projected into each of the user's eyes.
The HMD can also use the mapping to determine whether the user is wearing the HMD. For example, when the HMD determines that one or more features of the eye, such as periocular features, do not appear in the images acquired by the inward-facing imaging system (or are too small, indicating the HMD is off the user's face), the HMD may send a signal indicating that the user has taken off the device. A signal may additionally or alternatively be obtained from one or more other sensors, such as an inertial sensor, a depth sensor, a proximity sensor, or other sensor, as described herein. The signal may cause the device to change from one mode to another. For example, the signal may cause the HMD to change from an active mode to a powered off mode or a sleep mode. As another example, the HMD can use the images to calculate the distance between the user's face and the device; and if the HMD determines that the distance is greater than a threshold distance, the HMD may send a signal indicating that the user has taken off the HMD.
Other methods may be used to provide power saving features. For example, one or more outward facing cameras may be used at sensing, imaging, and/or mapping a user's environment, whether ahead of the user, at the periphery, or out of the user's eyesight. The cameras can be configured to alternate among two or more states. For example, various frame rates (in frames per second (fps)) may be available. Because faster frame rates result in higher quality imaging, mapping, etc. of the environment, faster frame rates may be desirable while the environment is, for example, rapidly changing or when the user is rapidly moving. However, because the power cost of higher frame rates is generally higher, it may be advantageous to reduce the frame rate of one or more of the cameras when a lower frame rate is acceptable. Accordingly, a balance between a frame rate and power saving may be made. This balance may shift over time and location, based in part, for example, on a user's environment, a user's actions, or a user's selection.
When the HMD is mobile and the user moves about the room, the relative location of the features in the room change. To keep up with these changes, operating parameters of one or more cameras can be adjusted to increase accuracy of the feature locations. However, doing this to all cameras and without some feedback loop can increase power consumption. Described herein are methods and systems to increase feature positional accuracy and photon placement in environment (e.g., a room) while reducing or minimizing power consumption. Power stores can be maintained longer by reducing the number of resources (e.g., clocks, voltages, CPU(s), GPU(s)) that are employed, for example, to maintain pose. Using this technique, the device's battery life may be extended while at the same providing a quality mixed reality experience.
A wearable system (also referred to herein as an augmented reality (AR) system) can be configured to present 2D or 3D virtual images to a user. The images may be still images, frames of a video, or a video, in combination or the like. At least a portion of the wearable system can be implemented on a wearable device that can present a VR, AR, or MR environment, alone or in combination, for user interaction. The wearable device can be a head-mounted device (HMD) which is used interchangeably as a head-mounted display (HMD) or an AR device (ARD). Further, for the purpose of the present disclosure, the term “AR” is used interchangeably with the term “MW”.
In order for the 3D display to produce a true sensation of depth, and more specifically, a simulated sensation of surface depth, it may be desirable for each point in the display's visual field to generate an accommodative response corresponding to its virtual depth. If the accommodative response to a display point does not correspond to the virtual depth of that point, as determined by the binocular depth cues of convergence and stereopsis, the human eye may experience an accommodation conflict, resulting in unstable imaging, harmful eye strain, headaches, and, in the absence of accommodation information, almost a complete lack of surface depth.
VR, AR, and MR experiences can be provided by display systems having displays in which images corresponding to a plurality of depth planes are provided to a viewer. The images may be different for each depth plane (e.g., provide slightly different presentations of a scene or object) and may be separately focused by the viewer's eyes, thereby helping to provide the user with depth cues based on the accommodation of the eye required to bring into focus different image features for the scene located on different depth plane or based on observing different image features on different depth planes being out of focus. As discussed elsewhere herein, such depth cues provide credible perceptions of depth.
In some embodiments, a speaker 240 is coupled to the frame 230 and positioned adjacent the ear canal of the user (in some embodiments, another speaker, not shown, is positioned adjacent the other ear canal of the user to provide for stereo/shapeable sound control). The display 220 can include an audio sensor (e.g., a microphone) 232 for detecting an audio stream from the environment and capture ambient sound. In some embodiments, one or more other audio sensors, not shown, are positioned to provide stereo sound reception. Stereo sound reception can be used to determine the location of a sound source. The wearable system 200 can perform voice or speech recognition on the audio stream.
The wearable system 200 can include an outward-facing imaging system 464 (shown in
As an example, the wearable system 200 can use the outward-facing imaging system 464 or the inward-facing imaging system 462 to acquire images of a pose of the user. The images may be still images, frames of a video, or a video.
The display 220 can be operatively coupled 250, such as by a wired lead or wireless connectivity, to a local data processing module 260 which may be mounted in a variety of configurations, such as fixedly attached to the frame 230, fixedly attached to a helmet or hat worn by the user, embedded in headphones, or otherwise removably attached to the user 210 (e.g., in a backpack-style configuration, in a belt-coupling style configuration).
The local processing and data module 260 may comprise a hardware processor, as well as digital memory, such as non-volatile memory (e.g., flash memory), both of which may be utilized to assist in the processing, caching, and storage of data. The data may include data a) captured from sensors (which may be, e.g., operatively coupled to the frame 230 or otherwise attached to the user 210), such as image capture devices (e.g., cameras in the inward-facing imaging system or the outward-facing imaging system), audio sensors (e.g., microphones), inertial measurement units (IMUs), accelerometers, compasses, global positioning system (GPS) units, radio devices, or gyroscopes; or b) acquired or processed using remote processing module 270 or remote data repository 280, possibly for passage to the display 220 after such processing or retrieval. The local processing and data module 260 may be operatively coupled by communication links 262 or 264, such as via wired or wireless communication links, to the remote processing module 270 or remote data repository 280 such that these remote modules are available as resources to the local processing and data module 260. In addition, remote processing module 280 and remote data repository 280 may be operatively coupled to each other. In some embodiments, the local processing and data module 260 can be removably attached to the hip 284 of the viewer 210 in a belt-coupling style configuration as shown in the inset of
In some embodiments, the remote processing module 270 may comprise one or more processors configured to analyze and process data or image information. In some embodiments, the remote data repository 280 may comprise a digital data storage facility, which may be available through the internet or other networking configuration in a “cloud” resource configuration. In some embodiments, all data is stored and all computations are performed in the local processing and data module, allowing fully autonomous use from a remote module.
The human visual system is complicated and providing a realistic perception of depth is challenging. Without being limited by theory, it is believed that viewers of an object may perceive the object as being three-dimensional due to a combination of vergence and accommodation. Vergence movements (i.e., rolling movements of the pupils toward or away from each other to converge the lines of sight of the eyes to fixate upon an object) of the two eyes relative to each other are closely associated with focusing (or “accommodation”) of the lenses of the eyes. Under normal conditions, changing the focus of the lenses of the eyes, or accommodating the eyes, to change focus from one object to another object at a different distance will automatically cause a matching change in vergence to the same distance, under a relationship known as the “accommodation-vergence reflex.” Likewise, a change in vergence will trigger a matching change in accommodation, under normal conditions. Display systems that provide a better match between accommodation and vergence may form more realistic and comfortable simulations of three-dimensional imagery.
With continued reference to
The waveguides 432b, 434b, 436b, 438b, 440b or the plurality of lenses 458, 456, 454, 452 may be configured to send image information to the eye with various levels of wavefront curvature or light ray divergence. Each waveguide level may be associated with a particular depth plane and may be configured to output image information corresponding to that depth plane. Image injection devices 420, 422, 424, 426, 428 may be utilized to inject image information into the waveguides 440b, 438b, 436b, 434b, 432b, each of which may be configured to distribute incoming light across each respective waveguide, for output toward the eye 410 (which may correspond to the eye 304 in
In some embodiments, the image injection devices 420, 422, 424, 426, 428 are discrete displays that each produce image information for injection into a corresponding waveguide 440b, 438b, 436b, 434b, 432b, respectively. In some other embodiments, the image injection devices 420, 422, 424, 426, 428 are the output ends of a single multiplexed display which may, e.g., pipe image information via one or more optical conduits (such as fiber optic cables) to each of the image injection devices 420, 422, 424, 426, 428.
A controller 460 controls the operation of the stacked waveguide assembly 480 and the image injection devices 420, 422, 424, 426, 428. The controller 460 includes programming (e.g., instructions in a non-transitory computer-readable medium) that regulates the timing and provision of image information to the waveguides 440b, 438b, 436b, 434b, 432b. In some embodiments, the controller 460 may be a single integral device, or a distributed system connected by wired or wireless communication channels. The controller 460 may be part of the processing modules 260 or 270 (illustrated in
The waveguides 440b, 438b, 436b, 434b, 432b may be configured to propagate light within each respective waveguide by total internal reflection (TIR). The waveguides 440b, 438b, 436b, 434b, 432b may each be planar or have another shape (e.g., curved), with major top and bottom surfaces and edges extending between those major top and bottom surfaces. In the illustrated configuration, the waveguides 440b, 438b, 436b, 434b, 432b may each include light extracting optical elements 440a, 438a, 436a, 434a, 432a that are configured to extract light out of a waveguide by redirecting the light, propagating within each respective waveguide, out of the waveguide to output image information to the eye 410. Extracted light may also be referred to as outcoupled light, and light extracting optical elements may also be referred to as outcoupling optical elements. An extracted beam of light is outputted by the waveguide at locations at which the light propagating in the waveguide strikes a light redirecting element. The light extracting optical elements (440a, 438a, 436a, 434a, 432a) may, for example, be reflective or diffractive optical features. While illustrated disposed at the bottom major surfaces of the waveguides 440b, 438b, 436b, 434b, 432b for ease of description and drawing clarity, in some embodiments, the light extracting optical elements 440a, 438a, 436a, 434a, 432a may be disposed at the top or bottom major surfaces, or may be disposed directly in the volume of the waveguides 440b, 438b, 436b, 434b, 432b. In some embodiments, the light extracting optical elements 440a, 438a, 436a, 434a, 432a may be formed in a layer of material that is attached to a transparent substrate to form the waveguides 440b, 438b, 436b, 434b, 432b. In some other embodiments, the waveguides 440b, 438b, 436b, 434b, 432b may be a monolithic piece of material and the light extracting optical elements 440a, 438a, 436a, 434a, 432a may be formed on a surface or in the interior of that piece of material.
With continued reference to
The other waveguide layers (e.g., waveguides 438b, 440b) and lenses (e.g., lenses 456, 458) are similarly configured, with the highest waveguide 440b in the stack sending its output through all of the lenses between it and the eye for an aggregate focal power representative of the closest focal plane to the person. To compensate for the stack of lenses 458, 456, 454, 452 when viewing/interpreting light coming from the world 470 on the other side of the stacked waveguide assembly 480, a compensating lens layer 430 may be disposed at the top of the stack to compensate for the aggregate power of the lens stack 458, 456, 454, 452 below. Such a configuration provides as many perceived focal planes as there are available waveguide/lens pairings. Both the light extracting optical elements of the waveguides and the focusing aspects of the lenses may be static (e.g., not dynamic or electro-active). In some alternative embodiments, either or both may be dynamic using electro-active features.
With continued reference to
In some embodiments, the light extracting optical elements 440a, 438a, 436a, 434a, 432a are diffractive features that form a diffraction pattern, or “diffractive optical element” (also referred to herein as a “DOE”). Preferably, the DOE has a relatively low diffraction efficiency so that only a portion of the light of the beam is deflected away toward the eye 410 with each intersection of the DOE, while the rest continues to move through a waveguide via total internal reflection. The light carrying the image information can thus be divided into a number of related exit beams that exit the waveguide at a multiplicity of locations and the result is a fairly uniform pattern of exit emission toward the eye 304 for this particular collimated beam bouncing around within a waveguide.
In some embodiments, one or more DOEs may be switchable between “on” state in which they actively diffract, and “off” state in which they do not significantly diffract. For instance, a switchable DOE may comprise a layer of polymer dispersed liquid crystal, in which microdroplets comprise a diffraction pattern in a host medium, and the refractive index of the microdroplets can be switched to substantially match the refractive index of the host material (in which case the pattern does not appreciably diffract incident light) or the microdroplet can be switched to an index that does not match that of the host medium (in which case the pattern actively diffracts incident light).
In some embodiments, the number and distribution of depth planes or depth of field may be varied dynamically based on the pupil sizes or orientations of the eyes of the viewer. Depth of field may change inversely with a viewer's pupil size. As a result, as the sizes of the pupils of the viewer's eyes decrease, the depth of field increases such that one plane that is not discernible because the location of that plane is beyond the depth of focus of the eye may become discernible and appear more in focus with reduction of pupil size and commensurate with the increase in depth of field. Likewise, the number of spaced apart depth planes used to present different images to the viewer may be decreased with the decreased pupil size. For example, a viewer may not be able to clearly perceive the details of both a first depth plane and a second depth plane at one pupil size without adjusting the accommodation of the eye away from one depth plane and to the other depth plane. These two depth planes may, however, be sufficiently in focus at the same time to the user at another pupil size without changing accommodation.
In some embodiments, the display system may vary the number of waveguides receiving image information based upon determinations of pupil size or orientation, or upon receiving electrical signals indicative of particular pupil size or orientation. For example, if the user's eyes are unable to distinguish between two depth planes associated with two waveguides, then the controller 460 (which may be an embodiment of the local processing and data module 260) can be configured or programmed to cease providing image information to one of these waveguides. Advantageously, this may reduce the processing burden on the system, thereby increasing the responsiveness of the system. In embodiments in which the DOEs for a waveguide are switchable between the on and off states, the DOEs may be switched to the off state when the waveguide does receive image information.
In some embodiments, it may be desirable to have an exit beam meet the condition of having a diameter that is less than the diameter of the eye of a viewer. However, meeting this condition may be challenging in view of the variability in size of the viewer's pupils. In some embodiments, this condition is met over a wide range of pupil sizes by varying the size of the exit beam in response to determinations of the size of the viewer's pupil. For example, as the pupil size decreases, the size of the exit beam may also decrease. In some embodiments, the exit beam size may be varied using a variable aperture.
The wearable system 400 can include an outward-facing imaging system 464 (e.g., a digital camera) that images a portion of the world 470. This portion of the world 470 may be referred to as the field of view (FOV) of a world camera and the imaging system 464 is sometimes referred to as an FOV camera. The FOV of the world camera may or may not be the same as the FOV of a viewer 210 which encompasses a portion of the world 470 the viewer 210 perceives at a given time. For example, in some situations, the FOV of the world camera may be larger than the viewer 210 of the viewer 210 of the wearable system 400. The entire region available for viewing or imaging by a viewer may be referred to as the field of regard (FOR). The FOR may include 4π steradians of solid angle surrounding the wearable system 400 because the wearer can move his body, head, or eyes to perceive substantially any direction in space. In other contexts, the wearer's movements may be more constricted, and accordingly the wearer's FOR may subtend a smaller solid angle. Images obtained from the outward-facing imaging system 464 can be used to track gestures made by the user (e.g., hand or finger gestures), detect objects in the world 470 in front of the user, and so forth.
The wearable system 400 can include an audio sensor 232, e.g., a microphone, to capture ambient sound. As described above, in some embodiments, one or more other audio sensors can be positioned to provide stereo sound reception useful to the determination of location of a speech source. The audio sensor 232 can comprise a directional microphone, as another example, which can also provide such useful directional information as to where the audio source is located. The wearable system 400 can use information from both the outward-facing imaging system 464 and the audio sensor 230 in locating a source of speech, or to determine an active speaker at a particular moment in time, etc. For example, the wearable system 400 can use the voice recognition alone or in combination with a reflected image of the speaker (e.g., as seen in a mirror) to determine the identity of the speaker. As another example, the wearable system 400 can determine a position of the speaker in an environment based on sound acquired from directional microphones. The wearable system 400 can parse the sound coming from the speaker's position with speech recognition algorithms to determine the content of the speech and use voice recognition techniques to determine the identity (e.g., name or other demographic information) of the speaker.
The wearable system 400 can also include an inward-facing imaging system 466 (e.g., a digital camera), which observes the movements of the user, such as the eye movements and the facial movements. The inward-facing imaging system 466 may be used to capture images of the eye 410 to determine the size and/or orientation of the pupil of the eye 304. The inward-facing imaging system 466 can be used to obtain images for use in determining the direction the user is looking (e.g., eye pose) or for biometric identification of the user (e.g., via iris identification). In some embodiments, at least one camera may be utilized for each eye, to separately determine the pupil size or eye pose of each eye independently, thereby allowing the presentation of image information to each eye to be dynamically tailored to that eye. In some other embodiments, the pupil diameter or orientation of only a single eye 410 (e.g., using only a single camera per pair of eyes) is determined and assumed to be similar for both eyes of the user. The images obtained by the inward-facing imaging system 466 may be analyzed to determine the user's eye pose or mood, which can be used by the wearable system 400 to decide which audio or visual content should be presented to the user. The wearable system 400 may also determine head pose (e.g., head position or head orientation) using sensors such as IMUs, accelerometers, gyroscopes, etc.
The wearable system 400 can include a user input device 466 by which the user can input commands to the controller 460 to interact with the wearable system 400. For example, the user input device 466 can include a trackpad, a touchscreen, a joystick, a multiple degree-of-freedom (DOF) controller, a capacitive sensing device, a game controller, a keyboard, a mouse, a directional pad (D-pad), a wand, a haptic device, a totem (e.g., functioning as a virtual user input device), and so forth. A multi-DOF controller can sense user input in some or all possible translations (e.g., left/right, forward/backward, or up/down) or rotations (e.g., yaw, pitch, or roll) of the controller. A multi-DOF controller which supports the translation movements may be referred to as a 3DOF while a multi-DOF controller which supports the translations and rotations may be referred to as 6DOF. In some cases, the user may use a finger (e.g., a thumb) to press or swipe on a touch-sensitive input device to provide input to the wearable system 400 (e.g., to provide user input to a user interface provided by the wearable system 400). The user input device 466 may be held by the user's hand during the use of the wearable system 400. The user input device 466 can be in wired or wireless communication with the wearable system 400.
The relayed and exit-pupil expanded light may be optically coupled from the distribution waveguide apparatus into the one or more primary planar waveguides 632b. The primary planar waveguide 632b can relay light along a second axis, preferably orthogonal to first axis (e.g., horizontal or X-axis in view of
The optical system may include one or more sources of colored light (e.g., red, green, and blue laser light) 610 which may be optically coupled into a proximal end of a single mode optical fiber 640. A distal end of the optical fiber 640 may be threaded or received through a hollow tube 642 of piezoelectric material. The distal end protrudes from the tube 642 as fixed-free flexible cantilever 644. The piezoelectric tube 642 can be associated with four quadrant electrodes (not illustrated). The electrodes may, for example, be plated on the outside, outer surface or outer periphery or diameter of the tube 642. A core electrode (not illustrated) may also be located in a core, center, inner periphery or inner diameter of the tube 642.
Drive electronics 650, for example electrically coupled via wires 660, drive opposing pairs of electrodes to bend the piezoelectric tube 642 in two axes independently. The protruding distal tip of the optical fiber 644 has mechanical modes of resonance. The frequencies of resonance can depend upon a diameter, length, and material properties of the optical fiber 644. By vibrating the piezoelectric tube 642 near a first mode of mechanical resonance of the fiber cantilever 644, the fiber cantilever 644 can be caused to vibrate, and can sweep through large deflections.
By stimulating resonant vibration in two axes, the tip of the fiber cantilever 644 is scanned biaxially in an area filling two-dimensional (2D) scan. By modulating an intensity of light source(s) 610 in synchrony with the scan of the fiber cantilever 644, light emerging from the fiber cantilever 644 can form an image. Descriptions of such a set up are provided in U.S. Pat. No. 9,310,559, which is incorporated by reference herein in its entirety.
A component of an optical coupler subsystem can collimate the light emerging from the scanning fiber cantilever 644. The collimated light can be reflected by mirrored surface 648 into the narrow distribution planar waveguide 622b which contains the at least one diffractive optical element (DOE) 622a. The collimated light can propagate vertically (relative to the view of
At each point of intersection with the DOE 622a, additional light can be diffracted toward the entrance of the primary waveguide 632b. By dividing the incoming light into multiple outcoupled sets, the exit pupil of the light can be expanded vertically by the DOE 622a in the distribution planar waveguide 622b. This vertically expanded light coupled out of distribution planar waveguide 622b can enter the edge of the primary planar waveguide 632b.
Light entering primary waveguide 632b can propagate horizontally (relative to the view of
At each point of intersection between the propagating light and the DOE 632a, a fraction of the light is diffracted toward the adjacent face of the primary waveguide 632b allowing the light to escape the TIR, and emerge from the face of the primary waveguide 632b. In some embodiments, the radially symmetric diffraction pattern of the DOE 632a additionally imparts a focus level to the diffracted light, both shaping the light wavefront (e.g., imparting a curvature) of the individual beam as well as steering the beam at an angle that matches the designed focus level.
Accordingly, these different pathways can cause the light to be coupled out of the primary planar waveguide 632b by a multiplicity of DOEs 632a at different angles, focus levels, or yielding different fill patterns at the exit pupil. Different fill patterns at the exit pupil can be beneficially used to create a light field display with multiple depth planes. Each layer in the waveguide assembly or a set of layers (e.g., 3 layers) in the stack may be employed to generate a respective color (e.g., red, blue, green). Thus, for example, a first set of three adjacent layers may be employed to respectively produce red, blue and green light at a first focal depth. A second set of three adjacent layers may be employed to respectively produce red, blue and green light at a second focal depth. Multiple sets may be employed to generate a full 3D or 4D color image light field with various focal depths.
In many implementations, the wearable system may include other components in addition or in alternative to the components of the wearable system described above. The wearable system may, for example, include one or more haptic devices or components. The haptic devices or components may be operable to provide a tactile sensation to a user. For example, the haptic devices or components may provide a tactile sensation of pressure or texture when touching virtual content (e.g., virtual objects, virtual tools, other virtual constructs). The tactile sensation may replicate a feel of a physical object which a virtual object represents, or may replicate a feel of an imagined object or character (e.g., a dragon) which the virtual content represents. In some implementations, haptic devices or components may be worn by the user (e.g., a user wearable glove). In some implementations, haptic devices or components may be held by the user.
The wearable system may, for example, include one or more physical objects which are manipulable by the user to allow input or interaction with the wearable system. These physical objects may be referred to herein as totems. Some totems may take the form of inanimate objects, such as for example, a piece of metal or plastic, a wall, a surface of table. In certain implementations, the totems may not actually have any physical input structures (e.g., keys, triggers, joystick, trackball, rocker switch). Instead, the totem may simply provide a physical surface, and the wearable system may render a user interface so as to appear to a user to be on one or more surfaces of the totem. For example, the wearable system may render an image of a computer keyboard and trackpad to appear to reside on one or more surfaces of a totem. For example, the wearable system may render a virtual computer keyboard and virtual trackpad to appear on a surface of a thin rectangular plate of aluminum which serves as a totem. The rectangular plate does not itself have any physical keys or trackpad or sensors. However, the wearable system may detect user manipulation or interaction or touches with the rectangular plate as selections or inputs made via the virtual keyboard or virtual trackpad. The user input device 466 (shown in
Examples of haptic devices and totems usable with the wearable devices, HMD, and display systems of the present disclosure are described in U.S. Pat. No. 9,671,566, which is incorporated by reference herein in its entirety.
A wearable system may employ various mapping related techniques in order to achieve high depth of field in the rendered light fields. In mapping out the virtual world, it is advantageous to know all the features and points in the real world to accurately portray virtual objects in relation to the real world. To this end, FOV images captured from users of the wearable system can be added to a world model by including new pictures that convey information about various points and features of the real world. For example, the wearable system can collect a set of map points (such as 2D points or 3D points) and find new map points to render a more accurate version of the world model. The world model of a first user can be communicated (e.g., over a network such as a cloud network) to a second user so that the second user can experience the world surrounding the first user.
One or more object recognizers 708 can crawl through the received data (e.g., the collection of points) and recognize or map points, tag images, attach semantic information to objects with the help of a map database 710. The map database 710 may comprise various points collected over time and their corresponding objects. The various devices and the map database can be connected to each other through a network (e.g., LAN, WAN, etc.) to access the cloud.
Based on this information and collection of points in the map database, the object recognizers 708a to 708n may recognize objects in an environment. For example, the object recognizers can recognize faces, persons, windows, walls, user input devices, televisions, documents (e.g., travel tickets, driver's license, passport as described in the security examples herein), other objects in the user's environment, etc. One or more object recognizers may be specialized for object with certain characteristics. For example, the object recognizer 708a may be used to recognizer faces, while another object recognizer may be used recognize documents.
The object recognitions may be performed using a variety of computer vision techniques. For example, the wearable system can analyze the images acquired by the outward-facing imaging system 464 (shown in
The object recognitions can additionally or alternatively be performed by a variety of machine learning algorithms. Once trained, the machine learning algorithm can be stored by the HMD. Some examples of machine learning algorithms can include supervised or non-supervised machine learning algorithms, including regression algorithms (such as, for example, Ordinary Least Squares Regression), instance-based algorithms (such as, for example, Learning Vector Quantization), decision tree algorithms (such as, for example, classification and regression trees), Bayesian algorithms (such as, for example, Naive Bayes), clustering algorithms (such as, for example, k-means clustering), association rule learning algorithms (such as, for example, a-priori algorithms), artificial neural network algorithms (such as, for example, Perceptron), deep learning algorithms (such as, for example, Deep Boltzmann Machine, or deep neural network), dimensionality reduction algorithms (such as, for example, Principal Component Analysis), ensemble algorithms (such as, for example, Stacked Generalization), and/or other machine learning algorithms. In some embodiments, individual models can be customized for individual data sets. For example, the wearable device can generate or store a base model. The base model may be used as a starting point to generate additional models specific to a data type (e.g., a particular user in the telepresence session), a data set (e.g., a set of additional images obtained of the user in the telepresence session), conditional situations, or other variations. In some embodiments, the wearable HMD can be configured to utilize a plurality of techniques to generate models for analysis of the aggregated data. Other techniques may include using pre-defined thresholds or data values.
Based on this information and collection of points in the map database, the object recognizers 708a to 708n may recognize objects and supplement objects with semantic information to give life to the objects. For example, if the object recognizer recognizes a set of points to be a door, the system may attach some semantic information (e.g., the door has a hinge and has a 90 degree movement about the hinge). If the object recognizer recognizes a set of points to be a mirror, the system may attach semantic information that the mirror has a reflective surface that can reflect images of objects in the room. The semantic information can include affordances of the objects as described herein. For example, the semantic information may include a normal of the object. The system can assign a vector whose direction indicates the normal of the object. Over time the map database grows as the system (which may reside locally or may be accessible through a wireless network) accumulates more data from the world. Once the objects are recognized, the information may be transmitted to one or more wearable systems. For example, the MR environment 700 may include information about a scene happening in California. The environment 700 may be transmitted to one or more users in New York. Based on data received from an FOV camera and other inputs, the object recognizers and other software components can map the points collected from the various images, recognize objects etc., such that the scene may be accurately “passed over” to a second user, who may be in a different part of the world. The environment 700 may also use a topological map for localization purposes.
At block 810, the wearable system may receive input from the user and other users regarding the environment of the user. This may be achieved through various input devices, and knowledge already possessed in the map database. The user's FOV camera, sensors, GPS, eye tracking, etc., convey information to the system at block 810. The system may determine sparse points based on this information at block 820. The sparse points may be used in determining pose data (e.g., head pose, eye pose, body pose, or hand gestures) that can be used in displaying and understanding the orientation and position of various objects in the user's surroundings. The object recognizers 708a-708n may crawl through these collected points and recognize one or more objects using a map database at block 830. This information may then be conveyed to the user's individual wearable system at block 840, and the desired virtual scene may be accordingly displayed to the user at block 850. For example, the desired virtual scene (e.g., user in CA) may be displayed at the appropriate orientation, position, etc., in relation to the various objects and other surroundings of the user in New York.
A sparse point representation may be the output of a simultaneous localization and mapping (e.g., SLAM or vSLAM, referring to a configuration wherein the input is images/visual only) process. The system can be configured to not only find out where in the world the various components are, but what the world is made of. Pose may be a building block that achieves many goals, including populating the map and using the data from the map.
In one embodiment, a sparse point position may not be completely adequate on its own, and further information may be needed to produce a multifocal AR, VR, or MR experience. Dense representations, generally referring to depth map information, may be utilized to fill this gap at least in part. Such information may be computed from a process referred to as Stereo 940, wherein depth information is determined using a technique such as triangulation or time-of-flight sensing. Image information and active patterns (such as infrared patterns created using active projectors), images acquired from image cameras, or hand gestures/totem 950 may serve as input to the Stereo process 940. A significant amount of depth map information may be fused together, and some of this may be summarized with a surface representation. For example, mathematically definable surfaces may be efficient (e.g., relative to a large point cloud) and digestible inputs to other processing devices like game engines. Thus, the output of the stereo process (e.g., a depth map) 940 may be combined in the fusion process 930. Pose 910 may be an input to this fusion process 930 as well, and the output of fusion 930 becomes an input to populating the map process 920. Sub-surfaces may connect with each other, such as in topographical mapping, to form larger surfaces, and the map becomes a large hybrid of points and surfaces.
To resolve various aspects in a mixed reality process 960, various inputs may be utilized. For example, in the embodiment depicted in
Controls or inputs from the user are another input to the wearable system 900. As described herein, user inputs can include visual input, gestures, totems, audio input, sensory input, etc. In order to move around or play a game, for example, the user may need to instruct the wearable system 900 regarding what he or she wants to do. Beyond just moving oneself in space, there are various forms of user controls that may be utilized. In one embodiment, a totem (e.g. a user input device), or an object such as a toy gun may be held by the user and tracked by the system. The system preferably will be configured to know that the user is holding the item and understand what kind of interaction the user is having with the item (e.g., if the totem or object is a gun, the system may be configured to understand location and orientation, as well as whether the user is clicking a trigger or other sensed button or element which may be equipped with a sensor, such as an IMU, which may assist in determining what is going on, even when such activity is not within the field of view of any of the cameras.)
Hand gesture tracking or recognition may also provide input information. The wearable system 900 may be configured to track and interpret hand gestures for button presses, for gesturing left or right, stop, grab, hold, etc. For example, in one configuration, the user may want to flip through emails or a calendar in a non-gaming environment, or do a “fist bump” with another person or player. The wearable system 900 may be configured to leverage a minimum amount of hand gesture, which may or may not be dynamic. For example, the gestures may be simple static gestures like open hand for stop, thumbs up for ok, thumbs down for not ok; or a hand flip right, or left, or up/down for directional commands.
Eye tracking is another input (e.g., tracking where the user is looking to control the display technology to render at a specific depth or range). In one embodiment, vergence of the eyes may be determined using triangulation, and then using a vergence/accommodation model developed for that particular person, accommodation may be determined. Eye tracking can be performed by the eye camera(s) to determine eye gaze (e.g., direction or orientation of one or both eyes). Other techniques can be used for eye tracking such as, e.g., measurement of electrical potentials by electrodes placed near the eye(s) (e.g., electrooculography).
Speech tracking can be another input can be used alone or in combination with other inputs (e.g., totem tracking, eye tracking, gesture tracking, etc.). Speech tracking may include speech recognition, voice recognition, alone or in combination. The system 900 can include an audio sensor (e.g., a microphone) that receives an audio stream from the environment. The system 900 can incorporate voice recognition technology to determine who is speaking (e.g., whether the speech is from the wearer of the ARD or another person or voice (e.g., a recorded voice transmitted by a loudspeaker in the environment)) as well as speech recognition technology to determine what is being said. The local data & processing module 260 or the remote processing module 270 can process the audio data from the microphone (or audio data in another stream such as, e.g., a video stream being watched by the user) to identify content of the speech by applying various speech recognition algorithms, such as, e.g., hidden Markov models, dynamic time warping (DTW)-based speech recognitions, neural networks, deep learning algorithms such as deep feedforward and recurrent neural networks, end-to-end automatic speech recognitions, machine learning algorithms (described with reference to
The local data & processing module 260 or the remote processing module 270 can also apply voice recognition algorithms which can identify the identity of the speaker, such as whether the speaker is the user 210 of the wearable system 900 or another person with whom the user is conversing. Some example voice recognition algorithms can include frequency estimation, hidden Markov models, Gaussian mixture models, pattern matching algorithms, neural networks, matrix representation, Vector Quantization, speaker diarisation, decision trees, and dynamic time warping (DTW) technique. Voice recognition techniques can also include anti-speaker techniques, such as cohort models, and world models. Spectral features may be used in representing speaker characteristics. The local data & processing module or the remote data processing module 270 can use various machine learning algorithms described with reference to
With regard to the camera systems, the example wearable system 900 shown in
At block 1010, the wearable system may identify a particular UI. The type of UI may be predetermined by the user. The wearable system may identify that a particular UI needs to be populated based on a user input (e.g., gesture, visual data, audio data, sensory data, direct command, etc.). The UI may be specific to a telepresence session. At block 1020, the wearable system may generate data for the virtual UI. For example, data associated with the confines, general structure, shape of the UI etc., may be generated. In addition, the wearable system may determine map coordinates of the user's physical location so that the wearable system can display the UI in relation to the user's physical location. For example, if the UI is body centric, the wearable system may determine the coordinates of the user's physical stance, head pose, or eye pose such that a ring UI can be displayed around the user or a planar UI can be displayed on a wall or in front of the user. In the telepresence context, the UI may be displayed as if the UI were surrounding user to create a tangible sense of another user's presence in the environment (e.g., the UI can display virtual avatars of the participants around the user). If the UI is hand centric, the map coordinates of the user's hands may be determined. These map points may be derived through data received through the FOV cameras, sensory input, or any other type of collected data.
At block 1030, the wearable system may send the data to the display from the cloud or the data may be sent from a local database to the display components. At block 1040, the UI is displayed to the user based on the sent data. For example, a light field display can project the virtual UI into one or both of the user's eyes. Once the virtual UI has been created, the wearable system may simply wait for a command from the user to generate more virtual content on the virtual UI at block 1050. For example, the UI may be a body centric ring around the user's body or the body of a person in the user's environment (e.g., a traveler). The wearable system may then wait for the command (a gesture, a head or eye movement, voice command, input from a user input device, etc.), and if it is recognized (block 1060), virtual content associated with the command may be displayed to the user (block 1070).
The wearable device 1150 can include an imaging system 1160 which can be configured to image the user's 210 face. The imaging system 1160 may be an example of the inward-facing imaging system 462 shown in
Each eye camera may have a field-of-view (FOV). For example, the FOV for the eye camera 1160a can include the region 1120a and the region 1130. The FOV for the eye camera 1160b can include the region 1120b and the region 1130. The FOV of the eye camera 1160a and the FOV of the eye camera 1160b may overlap at the region 1130.
As shown in
In some implementations, one or both of the eye cameras may be rotated such that the optical axes of the two eye cameras are no longer in parallel. For example, the two eye cameras may point slightly towards each other (e.g., particularly if the eye cameras are disposed near outside edges of the frame of the device 1150). This implementation may be advantageous because it can create a cross eyed configuration which can increase the overlap of the FOV between the two cameras as well as to allow the two eye cameras to image the face at a closer distance.
When the wearable device 1150 is too close to the user 210, the eye cameras may be out of focus. For example, assuming the periocular separation (e.g., a distance between periocular features on the left and right side of the face) for the user is 46 mm (typical for an adult male) and each of the two eye cameras has a horizontal FOV of 66 degrees (appropriate for eye-tracking), then the wearable device may take pictures when the distance between the face and the wearable device is at least about 175 mm. The minimum focal distance for the lenses of many eye cameras is approximately 14 mm. If the lenses have fixed focal length, their depth of focus needs to be about 65 diopters.
If the images are obtained when there is insufficient depth of focus, the wearable device 1150 may treat the images as low resolution images. As a result, the face model generated by the wearable device may have a lower fidelity or have sparse representations of gross facial features. Such face model may still be used to deduce an interocular separation for the user (e.g., an interpupillary distance), which is useful for determining whether the wearable device fits the user's face.
Although the example described in
The wearable device 1150 can build a model of the user's face using the images of the user's face acquired by the imaging system 1160. The images may be acquired by the imaging system 1160 when the user is putting on or taking off the device. The images may also be acquired by scanning the user's face using the outward-facing imaging system 464 (shown in
The model of the user's face may be generated based on a base model and data specific to a user. For example, the wearable device may use a base model pre-generated from data associated with a group of people and customize the base model based on user specific information obtained by analyzing the images acquired by the wearable device. In some implementations, the base model may be associated with a group of people having similar demographic information to the user of the wearable device. For example, if the user is a female teenager, the wearable device may access a base model associated with a typical female teenager. As another example, if the user belongs to certain gender and/or race group, the wearable device may access a base model common to that gender and/or race group. The wearable device can also determine a likelihood of a location of a certain facial feature on the map based on statistical analysis on images associated with a group of people or the user. The wearable device can then update the likelihood or confirm the location of the periocular feature based on images acquired specific to the user.
In addition to or in alternative to identifying the presence of periocular features in an image, the wearable device can analyze images acquired by the inward-facing imaging system to determine the relative position between the wearable device and the user. The eye cameras of the inward-facing imaging system 462 (shown in
The wearable device can also build the face model based on the user specific images. For example, the wearable device may generate a model of the user's face solely from the images acquired by the inward-facing imaging system or by the outward-facing imaging system. In some implementations, the wearable device may update the user's face model as more images of the user's face are acquired. For example, the wearable device may generate a face model based on the images acquired by the inward-facing imaging system as the user is putting on the device. The wearable device can update the face model based on new images acquired when the user is taking off the device or in the next session where the user is putting on the device again.
Although these examples refer to building a face model or creating a map of a user's face using a wearable device, some embodiments may include the wearable device communicating with a remote computing device to generate or otherwise obtain a face model. For example, the wearable device can acquire images of the user's face and pass the images (alone or in combination with other information of the user, such as, e.g., the user's demographic information) to a remote computing device (e.g., such as a server). The remote computing device can analyze the images and create the face model and pass the face model to the wearable device of the user or pass the face model to another user's wearable device (e.g., during a telepresence session).
Further, in addition to or in alternative to determining fit or removal of the wearable device, or adjusting a rendering location of virtual images, the face model can also be used to perform user identification. As an example of determining a user's identity based on the images, the wearable device can analyze facial features of the user by applying various facial recognition algorithms to the acquired images (e.g., face shape, skin tone, characteristics of nose, eyes, cheeks, etc.). Some example facial recognition algorithms include principal component analysis using eigenfaces, linear discriminant analysis, elastic bunch graph matching using the Fisherface algorithm, the hidden Markov model, the multilinear subspace learning using tensor representation, and the neuronal motivated dynamic link matching, or a 3D face recognition algorithm. The device may also analyze the images to identify the iris and determine a biometric signature (e.g., an iris code), which is unique to each individual.
The wearable device can also perform image registration based on the images acquired by the wearable device while the device is being put on or taken off the user's face. The resulting image obtained from the image registration can include a portion of the user's environment (e.g., the user's room or another person near the user) in addition to or in alternative to the user's face.
As described with reference to
The wearable device can compute and track periocular features and associated characteristics using neural network or visual keypoints techniques such as scale-invariant feature transform (SIFT), speeded up robust features (SURF), oriented FAST and rotated BRIEF (ORB), binary robust invariant scalable keypoints (BRISK), fast retina keypoint (FREAK), etc. In some embodiments, a particular facial feature may be tracked using a detector specifically designed for that particular periocular feature. For example, periocular feature characteristics, such as eye corners, nose features, mouth corners, etc., may be identified and tracked separately using various algorithms. Tracking one or more of these periocular feature characteristics separately may be advantageous because each periocular feature and/or characteristic may be prone to substantial motion while the user making facial expressions or is speaking. The algorithms used to track these periocular features and characteristics may take into account the range of mobility. As an example, some periocular features and/or associated characteristics may be likely to move in certain directions and/or may be likely to remain more stable in other directions (e.g., eyebrows tend to move up or down but not left or right).
The wearable device can analyze the movements of the periocular features statistically. These statistics may be used to determine the likelihood that the facial features will move in a certain direction. In some embodiments, one or more periocular features or characteristics may be removed or untracked to reduce processing demand or to improve reliability. In the instance where it is desired to improve reliability, it may be advantageous to ignore or mask periocular features or characteristics that are more error prone than others. For example, in some embodiments as described with reference to
The wearable device can also use visual simultaneous location and mapping (vSLAM) techniques, such as sequential Bayesian estimator (e.g., Kalman filter, extended Kalman filter, etc.), bundle adjustment, etc., to identify and track periocular features and characteristics. In some embodiments, the wearable device may be configured to allow depth perceptions and mapping of the user. For example, the wearable device can construct a dense map, which encodes at least a portion of the face, from data acquired by one or more cameras. In contrast with a keypoint map, the dense map may comprise patches or regions of the face whose 3D shape is measured. The patches or the regions may be used to compute the location of the HMD relative to the face of the user using techniques such as iterative closest algorithm or similar algorithms.
The size and content within the periocular region captured by a camera on the wearable device may depend on the eye camera's FOV. In some implementations, the eye camera may not have a large FOV to fit all recognizable periocular features within the captured periocular region. For example, the images captured by the eye camera may include the eye socket but not the eyebrow. Technical specifications of the camera may determine which periocular features are most likely to remain present in multiple captured frames of a periocular region and which periocular features are most reliable for tracking.
As described with reference to
In some implementations, images acquired by eye cameras may be low resolution images because the eye cameras may be out of focus. Out of focus or low resolution images may result from physical limitations within the hardware of the wearable or improper positioning or movement of the wearable device. For example, out of focus images may be caused by eye cameras being too close or too far from the user's face. Alternatively, in some embodiments, it may be desired to capture lower resolution images. For example, the wearable device may not need high quality images to track the periocular features (e.g., for determining relative position between the user's face and the wearable device) and the use of high resolution images may place more demand on software and hardware systems of the wearable device without providing a useful improvement in output. In order to minimize demand on the wearable device in terms of processing time, sampling frequency, power consumption, and other metrics, the resolution of the images obtained from an eye imager may be down-sampled relative to their original resolution or the resolution used in other applications (e.g., eye-tracking) to a minimum resolution necessary for detecting and identifying periocular features. For example, the eye cameras may image the user's eyes for the purpose of tracking the user's direction of gaze. The images obtained by the eye cameras can be downsized by the wearable device for use in determining the relative position between the user's face and the wearable device. This implementation may be advantageous because the wearable device may not need detailed, high-resolution information of the periocular region to determine the relative position.
In some situations, the wearable device can dynamically change the resolution of the eye camera. The resolution of the eye camera may be selected based on timing, device position with respect to a user's eyes, or intended use of the captured images. For example, it may be advantageous to capture images of a user's face from a distance further away than a normal resting use position so that a larger portion of the user's face is imaged for use is constructing a model of the user's face. It may be determined that these images are best captured as the user is putting on the wearable device. The resolution of the eye camera may be set to a high resolution when the user is putting on the wearable device so that high resolution photos of the user's entire face are available for use in generating a model of the user's face. While the wearable device is on the user, the resolution of the eye camera may be set to a low resolution so that the eye camera can continuously test whether the wearable device is in place without slowing down other processing applications. In various embodiments, the low resolution may be a factor smaller than the high resolution, where the factor is less than one, e.g., 0.5, 0.25, 0.1, or less.
A portion of the image 1200b of the periocular region may be masked (such as, e.g., being ignored or otherwise excluded from image analysis) to reduce variations arising from a biological state of an eye (such as changes in eye pose, pupil dilation, blink, etc.). Characteristics of the eye, such as eye color, position of eyeball, and so forth, may also be highly variable among different people. These variations, in combination with variables relating to biological state of the eye, may introduce noise and error as the wearable device is determining whether the position of the wearable device has changed relative to the user's eye. Thus, masking the highly variable portion of the periocular region being imaged may reduce error and may also reduce the amount of computation needed to analyze the image. For example, as shown in
Specular reflections occurring on the exposed portions of the eyeball, can also be masked. This implementation is particularly advantageous for improving accuracy when determining the relative position between the user's face and the wearable device. As the user moves around in the environment, specular reflections from the user's eye may change based on biological factors, such as where the user is looking, and may also change based on external factors, such as what the user is currently seeing, changes in environmental light sources, changes in distances to light sources, etc. However, changes in specular reflection may sometimes, but not always, be attributed to a change in the relative position between the user's face and the wearable device. Thus, it may be advantageous to ignore (or not analyze) this information since it may not be reliable for the purpose of determining relative position between a user's eye and the wearable device.
The wearable device can use images acquired by the eye cameras to train a machine learning model to identify periocular features in the periocular region. The wearable device may also use the object recognizers 708 (described in
The detection and identification of periocular features may be performed automatically using neural network techniques (such as sparse auto-encoder or similar clustering techniques or deep neural networks using many hidden layers) or other machine learning algorithms. In some implementations, the machine learning model may be customized based on its application. For example, if the machine learning model is used for determining whether the wearable device fits the user's face, the machine learning model may be trained to identify detailed characteristics of periocular features such as the location of eyebrows and eye balls. As another example, if the machine learning model is used for detecting whether the user has removed the wearable device, the machine learning model may not need to learn the detailed characteristics of periocular features of the user's face. Rather, it may be sufficient to identify a minimum set of periocular features such as the eye socket and the nose of the user.
The wearable device can identify periocular features in the periocular region in an image captured by cameras on the wearable device and may use the identified periocular features, and characteristics thereof, to determine a relative position between the wearable device and the user's face. In certain embodiments, the wearable device can calculate the relative position between the wearable device and the user separately for each eye. For example, when the wearable device has two eye cameras, each configured to image one periocular region of the user, the wearable device may calculate one relative position between the left eye and the left eye camera and another relative position between the right eye and the right eye camera. Relative positions between the left eye and the wearable device and between the right eye and the wearable device may then be calculated. In some embodiments, calculating distances between eyes and the wearable device may also depend on known geometric information about positions of eye cameras on the wearable in addition to known technical details about the cameras themselves, such as field of view, focal length, etc.
While the wearable device may track the relative positions for respective eyes separately, the wearable device may also be configured to combine relative position information between both eyes and the wearable device. Alternatively, a wearable device may include one eye camera capable of imaging both the user's left and right eyes simultaneously. In other embodiments, a single eye camera on the wearable device may image a periocular region of only one eye, from which relative positional data of the HMD with respect to the user may be extrapolated. More or fewer than two cameras may be used to image one or more periocular regions of a user and that the number of cameras used may depend upon the technical specifications of the camera and the desired types and number of images needed for a particular application or tracking algorithm.
As further described herein, the relative positions between the user's face and the wearable device can be used to determine whether a positional shift has occurred between the wearable device and the user. In some embodiments, detection of a positional shift may cause a display of the wearable device to adjust rendering locations of virtual objects so that the rendered virtual content may align correctly with the user's eyes. Because the relative position between the left eye and the wearable device may be different from the relative position between the right eye and the wearable device (such as when the wearable device tilts to one side), the adjustment to the rendering location of a virtual object may be different for the left eye display and the right eye display.
The wearable device can analyze the images obtained by one or both eye cameras to determine the relative position between the HMD and the user. The HMD can determine a normal resting position of the HMD and determine the relative position of the HMD with respect to a user based on a positional deviation from the normal resting position. The normal resting position of the HMD may be determined and calibrated during the initialization phase of the wearable device. For example, when a user first uses the wearable device, the wearable device may build a face model (e.g., a map of the user's face) and determine the normal resting position of the HMD based on the face model. As further described with reference to
While the user is using the wearable device, the wearable device can keep tracking the relative position between the HMD and the user using a variety of techniques. For example, the wearable device can identify and track visual keypoints associated with periocular features. Movement of visual keypoints associated with periocular features may indicate relative motion of the HMD with respect to the user's eyes and face. In some embodiments, the wearable device can also match a region of the face as identified in the acquired images relative to a dense map of the user's face to compute the location of the HMD relative to the face. As another example, the HMD may detect or calculate a distance from the HMD (or a component of the HMD such as an eye camera) to the eyes of user 1310. If the distance of the HMD passes a certain distance threshold (e.g., when the HMD is too close or too far), the HMD may determine that the HMD does not fit the user 1310 very well and may determine that the rendering locations of the pixels need to be adjusted. On the other hand, if the detected or calculated distance between the HMD and the user's eyes falls within a threshold range, the wearable device may determine that the HMD fits the user acceptably and the pixels will not need to be adjusted.
It may be that the HMD shifts asymmetrically with respect to the user's eyes. For example, the HMD may tilt to one side as shown in
As another example, the HMD may use IPD as one of the parameters for determining fit of the HMD and/or location of the HMD with respect to the user's eyes. The HMD may be capable of detecting and/or calculating a user's IPD based on images obtained from eye cameras. In some embodiments, knowledge of geometric placement of eye cameras on the HMD, specifics about orientation of the eye cameras, and information about camera field of view, focal distance, and other technical details may also be used in calculating user IPD.
The HMD may obtain an acceptable IPD range for the user 1310 (e.g., by accessing a database storing acceptable values of interpupillary distances). The acceptable interpupillary distance may be a distance or range of distances determined specifically for the user 1310 or may be determined based on data from a group of people. The HMD can compare the user's IPD to the acceptable IPD range. If the discrepancy between the user's IPD 1316 and the acceptable interpupillary distance passes a threshold, the HMD may determine that the HMD does not fit the user very well. On the other hand, if the discrepancy is within an acceptable range, the HMD may determine that the HMD fits the user adequately. In cases where the HMD fit is determined to be acceptable, no rendering adjustment is necessary; however, in cases where the HMD fit is inadequate, the HMD may adjust rendering to accommodate for a suboptimal fit.
For example, the interpupillary distance for a typical adult male may be around 65 mm. The acceptable IPD value may be based on an average value for a user of particular age, gender, and/or race. For example, the HMD may obtain user information indicating that the user is an adult male. This information may be used to obtain an acceptable IPD value for an adult male user, such as 65 mm. In some embodiments, the HMD may calculate an acceptable IPD range based on the acceptable IPD value for a given user. Continuing the example above, an acceptable IPD range may be the acceptable IPD value (65 mm) plus or minus a selected distance or percentage of the acceptable IPD value. The selected distance may be, for example, plus or minus 5 mm or plus or minus 10 mm to give acceptable IPD ranges of 60 mm-70 mm and 55 mm-75 mm, respectively. The percentage of IPD may be, for example, plus or minus 5% or plus or minus 10% to give acceptable IPD ranges of 61.75 mm-68.25 mm and 58.5 mm-71.5 mm, respectively. Any distance or percentage value may be selected for determining an acceptable IPD range.
In some implementations, the interpupillary distance may be calculated from a sample group of people. For example, the HMD can calculate the average, mean, or median value (or other statistical values) of the interpupillary distance for a group of people to be used for the determining an acceptable IPD value or range. The sample may take into account the characteristics of the user such as the user's gender, race, age, and so on. For example, if the user of the HMD is a female teenager, the HMD may calculate the threshold interpupillary distance for the user based on data from a group of female teenagers. In addition to or in alternative to interpapillary distance, the HMD can also calculate the threshold value based on other parameters, such as the periocular separation.
The wearable device can also use the detected location of relative centers of the pupils (1318a and 1318b) with respect to the display to determine the relative position between the HMD and the face. In
In another example, eye cameras may specifically track eyeball center as an indicator of relative position between the HMD and a user. Eyeball center location may allow the wearable device to determine relative tilt, rotation, and translation occurring up to three dimensions (e.g., x-, y-, and z-dimensions or yaw, pitch, and roll angular dimensions). To reduce errors associated with specular reflection, eye tracking cameras with specific componentry may be used. For example, eye cameras may include infrared (IR) light emitting diode (LED) lights. Operating parameters of the eye cameras and/or IR LED lights may also be optimized to reduce or minimize tracking error caused by specular reflection. For example, the IR LED lights may be operated to burst light of a particular wavelength with relatively high power. An optimized IR wavelength may be between about 800 nm and 900 nm, and an optimized power level may correspond to an operating current of between about 2.5 mA and 50 mA. Exposure time of the eye cameras may additionally or alternatively be adjusted to reduce error. An optimal exposure time may be between about 400 microseconds and 8 ms. Additionally or alternatively to adjusting operating parameters of eye cameras, filtering steps may be performed to reduce error caused by reflection. Using one or more of these improvements may allow the wearable device to track wearable device location with respect to eyeball center with more stability and reliability than a system tracking relative position based on other periocular features. This may be especially relevant when other periocular features are difficult for the wearable device to identify and track, such as when makeup covers periocular features such as eyelid, eye corners, eyelash length, etc.
In some embodiments, the HMD can use observed asymmetries in the images of the periocular region to determine the relative position between the user's eyes and the wearable device. For example, in
Although the two eye cameras for imaging the periocular regions 1312a and 1312b do not have an overlapping FOV in the examples shown in
These example factors may be used alone or in combination to determine the relative position between the HMD and the user's face. For example, although the HMD detects asymmetries in the wearer's eyes in the images, the HMD may nevertheless determine that it is at the normal resting position because the relative centers of the pupils do not indicate a tilt. Thus, the HMD may be capable of performing more than one check to determine position of the HMD so that false indications of an HMD-to-user misalignment do not incorrectly and unnecessarily trigger an adjustment in render location.
The HMD can determine the relative position using a variety of algorithms For example, the wearable system can track visual keypoints and relative positions using SIFT, SURF, ORB, FREAK, BRISK. V-SLAM techniques, such as the use a sequential Bayesian estimator (e.g. Kalman Filter, Extended Kalman Filter, etc.) or Bundle Adjustment may also be employed. Where the cameras are capable (either singly or by integrating data from multiple cameras) of depth perception (either by stereoscopy, structured light projection, time of flight measurement, or any other means), a dense map may be constructed of the whole or parts of the face. Such a dense map can comprise of patches or regions whose three dimensional shape is measured. Such regions may be used, by matching (e.g. with the Iterative Closest Point algorithm, or similar), to compute the location of the HMD relative to the face. The HMD can use a model of the face (e.g., built during the initialization phase of the HMD) to determine the relative position between the HMD and the user's face.
In addition to or in alternative to determining the relative position between the HMD and the user's face, the wearable device can also determine a pose of the HMD. The pose may be with respect to the user's face, such as titling to one side or forward by a certain degree or distance, or rotated in a clockwise or counterclockwise direction about the user's head, etc. The wearable device can determine the pose of the HMD using the information on the relative position between the HMD and the user's face. The wearable device can also determine the pose of the HMD directly from the images acquired by one or more cameras of the wearable device.
The relative position between the HMD and the user's face or the HMD's pose may be used to compute an adjustment to a rendering location of the virtual objects.
In
As described with reference to
As an example, as shown in
Because the position of the virtual camera is adjusted, the rendering locations of the virtual objects in the user's FOV may also be adjusted accordingly. Additionally or alternatively, the wearable device can shift the rendering coordinate system (e.g. the shift the x-y-z coordinate shown in
Shifting of the rendering coordinate system may be an approximation to the shifting of the virtual camera or the virtual objects. In some situations (particularly for small adjustments), this approximation may be close enough to the adjustments generated by displacing the virtual camera. Additionally, the coordinate shift may be advantageous for reducing the cost of calculating the positions of the virtual object and thereby increase the performance of the wearable device. It may also be advantageous for reducing delay. For example, the coordinate shift may be done after the rendering pipeline for the uncorrected coordinate is complete and the HMD can apply the coordinate shift just before the virtual images are mapped to the rendering coordinate system.
In some situations, when the change in the relative position exceeds a threshold level, the wearable device may generate an alert indicating the relative position change instead of adjusting the rendering locations of the virtual objects. In other situations, when the change in the relative position is less than a threshold level, the wearable device may be configured not to adjust the rendering locations of the virtual objects because such a small change in the relative position may not affect the user's visual experience. The dynamic rendering adjustment described herein can be performed periodically (e.g., every 0.5 s, 1 s, 5 s, 10 s, 30 s, etc.) or as needed (e.g., when the HMD relative position shift is greater than a threshold amount).
At block 1610, the wearable device can receive images obtained by the inward-facing imaging system. For example, the wearable device can receive images from both eye cameras of the inward-facing imaging system. In some implementations, the inward-facing imaging system may include only one eye camera. The eye camera may be configured to image the periocular region of one eye or the periocular regions for both eyes. The images can be still images or frames from a video (e.g., typically the inward-facing imaging system comprises video cameras).
At block 1620, the wearable device can analyze the images to identify periocular features. For example, the wearable device may use only one image or a series of images (such as a video to make such analysis). As described with reference to
At block 1630, the wearable device can determine a relative position between the HMD and the user's head. For example, the wearable device can track keypoints associated with periocular features in a series of images acquired by the wearable device. The wearable device can also match a region of the perioculus with a region in a dense map to determine the relative position between the HMD and the user's face. As another example, the wearable device may use the distance between the user and the inward-facing imaging system to determine whether the HMD tilts (to the side or forward). If the distance calculated for the left eye is different from the distance calculated for the right eye, the wearable device may determine that the HMD is tilted to one side. If the distances associated with for the left eye and the right eye are roughly the same but the distance exceeds a threshold distance, the wearable device may determine that it tilts forward because it's far away from user's eyes.
In addition to or in alternative to distance between the user's eyes and the HMD, the wearable device can also use other factors, alone or in combination, to determine the relative position between the user and the HMD. These factors may include alignment between the pupils and the center of the display, asymmetry of user's eyes, and so on.
At block 1640, the wearable device can adjust a rendering location of the a virtual object based at least partly on the relative position between the HMD and the user's face. For example, the wearable device can determine a current position of the eye and calculate an adjustment based on the relative position between the eye and the HMD. The adjustment may be relative to a normal resting position of the eye or the HMD. The adjustment may be in one or more directions, such as a horizontal shift, a vertical shift, a depth shift, or a tilt to a side. The wearable device can update the location a virtual camera of a rendering system to reflect the adjustment, where the virtual camera may correspond to the perspective of the user's eye. The wearable device can also shift the rendering coordinate system of the HMD to reflect the adjustment.
At block 1650, the HMD renders the virtual object at the adjusted rendering location. The virtual object may be perceived to be at the same location in the user's environment due the adjustment even though the illuminated pixels associated with the virtual object may be shifted on the HMD.
In some situations, the wearable device can continuously or periodically (e.g., every 0.5, 1 s, 10 s, 1 min, etc.) monitor the position of the HMD relative to the user's head while the user is wearing the HMD because the position of the HMD may change as the user moves around (for example, the HMD may slide down the user's nose). The wearable device may change the AR or VR display (such as adjusting pixels or the location associated with the virtual object) to compensate for the change in the relative position between the HMD and the user's head periodically or continuously or as needed. This implementation may be particularly advantageous for maintaining a 3D view without requiring the 3D display to be constantly located at a particular place on the user's head. Accordingly, the wearable device can dynamically adjust the projection of light from the AR or VR display (e.g., a light field) to compensate for where the HMD is positioned on the user's head.
The HMD can use a variety of factors to determine how the HMD fits the user. As one example, the HMD can analyze the images obtained by the eye cameras by applying a mapping learned via machine learning techniques. The images acquired by the eye cameras can be trained using a machine learning model to identify periocular features. The machine learning model can include a mapping of an image space to a fit space for the HMD. The mapping can be applied to an eye image to determine whether the periocular region is present in the eye image (e.g., for determining whether the HMD is on the user's face) or the quality of the fit of the HMD on the user's face. In some implementations, one mapping may be used for both classifying the fit of the wearable device and for determining whether the periocular region is present or different mappings may be used for fit and for whether the HMD is on the user's face.
The mapping may incorporate a variety of parameters for determining the fit, such as for example, the appearance of the periocular features in the images (e.g., whether periocular features for the two eyes appear asymmetrical), the distance from one or both eyes to the HMD, interpupillary distance (e.g., comparing the interpupillary distance calculated based on images with a proper interpupillary distance for the user), or relative centers of the pupils (e.g., whether the center of the HMD's display aligns with the centers of the pupil).
The image space may include images of periocular regions or images of features in the periocular region. The fit space for an HMD may include interpupillary distance, alignment between the pupils and the center of the display, asymmetry of user's eyes, tilt of the HMD, and so on. The machine learning model can identify features that are predictors of the goodness of fit so that the mapping can be applied to an eye image to determine a quality of fit (e.g., good, acceptable, poor, or a grade, e.g., A-F, or a numerical fit score). The mapping for determining whether the HMD is on or off the user's face may be a Boolean value (e.g., on or off).
Various machine learning algorithms may be used for this process. Some examples of machine learning algorithms that can be used to generate and update the models can include supervised or non-supervised machine learning algorithms, including regression algorithms (such as, for example, Ordinary Least Squares Regression), instance-based algorithms (such as, for example, Learning Vector Quantization), decision tree algorithms (such as, for example, classification and regression trees), Bayesian algorithms (such as, for example, Naive Bayes), clustering algorithms (such as, for example, k-means clustering), association rule learning algorithms (such as, for example, a-priori algorithms), artificial neural network algorithms (such as, for example, Perceptron), deep learning algorithms (such as, for example, Deep Boltzmann Machine), dimensionality reduction algorithms (such as, for example, Principal Component Analysis), ensemble algorithms (such as, for example, Stacked Generalization), and/or other machine learning algorithms.
In some embodiments, individual models can be customized for individual data sets. For example, the wearable device can generate a base model. The base model may be used as a starting point to generate additional models specific to a data type (e.g., a particular user), a data set (e.g., a set of additional images obtained), conditional situations (e.g., fit during gameplay may be different than fit during Internet browsing), or other variations. In some embodiments, the wearable device can be configured to utilize a plurality of techniques to generate models for analysis of the aggregated data. Other techniques may include using pre-defined thresholds or data values. Over time, the wearable device can continue to update the models.
The HMD can determine the fit using quantitative and/or qualitative measures. For example, the HMD can generate a score indicating the fit based on the relative position between the HMD and the user, or based on the pose of the HMD. The score may be an output of the mapping learned via machine learning techniques. In some implementations, a high score may indicate that the HMD fits the user well while a low score may indicate that the HMD does not fit very well. In other implementations, a high score may indicate that HMD does not fit the user well while a low score may indicate the HMD fits well. As another example, the HMD categorize how well it fits the user. The categories may include “fits well”, “fits poorly, or “not fit at all”. The categories may also be letter grades such as “A”, “B”, “C”, “D”, and so on. The categories may also be the output of the mapping learned from the machine learning techniques. For example, the mapping may include a correlation between an appearance of the periocular feature and a category of fit. The wearable device can output a certain category of fit based on the appearance of the periocular feature as determined from the images acquired by the eye cameras.
At block 1502, the HMD can receive images obtained by the inward-facing imaging system. For example, the HMD can receive images for both eye cameras of the inward-facing imaging system. In some implementations, the inward-facing imaging system may include only one eye camera. The eye camera may be configured to image the periocular region of one eye or the periocular regions for both eyes. The images can be still images or frames from a video (e.g., typically the inward-facing imaging system comprises video cameras).
At block 1504, the HMD can analyze the images to identify periocular features. For example, the HMD may use only one image or a series of images (such as a video to make such analysis). As described with reference to
At block 1506, the HMD can determine a relative position between the HMD and the user's head. For example, the HMD can analyze the image to determine whether one or more periocular features appear in the image. If the periocular features do not appear in the image, the HMD may determine that the user is not currently wearing the HMD. If the periocular features appear in the image, the HMD can analyze whether the HMD properly fits the user's face. For example, the HMD may use the distance between the user and the inward-facing imaging system to determine whether the HMD tilts (to the side or forward). As an example, if the distance calculated for the left eye is different from the distance calculated for the right eye, the HMD may determine that the HMD is tilted to one side. As another example, if the distances associated with for the left eye and the right eye are roughly the same but the distance exceeds a threshold distance, the HMD may determine that it tilts forward because it's far away from user's eyes.
In addition to or in alternative to distance between the user's eyes and the HMD, the HMD can also use other factors, alone or in combination, to determine the relative position between the user and the HMD. These factors may include interpupillary distance, alignment between the pupils and the center of the display, asymmetry of user's eyes, and so on.
At block 1508, the HMD can determine a fit category based on the relative position. As described herein, a machine learned mapping can be applied to an eye image to determine goodness of fit. The HMD can classify the fit into different categories such as “fits well”, “fits poorly”, and “not fit at all.” The HMD can also indicate the fit category through a user interface. For example, the HMD may provide a warning sign when the HMD fits poorly. As another example, the HMD may provide an indicator in the user interface if the HMD fits well. In some implementations, the HMD may provide a score associated with fit. The HMD can display the score to the user via the user interface. In some embodiments, fit categories may each be associated with a range of the scores. The HMD can accordingly inform the user the fit category based on whether the score falls within a given range.
In some situations, the HMD can continuously or periodically (e.g., every 1 s, 10 s, 1 min, etc.) monitor the position of the HMD relative to the user's head while the user is wearing the HMD because the position of the HMD may change as the user moves around (for example, the HMD may slide down the user's nose). The HMD may change the AR or VR display (such as adjusting pixels or the location associated with the virtual object) to compensate for the change in the relative position between the HMD and the user's head. This implementation may be particularly advantageous for maintaining a 3D view without requiring the 3D display to be constantly located at a particular place on the user's head. Accordingly, the HMD can dynamically adjust the projection of light from the AR/VR/MR display (e.g., a light field) to compensate for where the HMD is positioned on the user's head.
As described with reference to
The information on the relative positions can also be used to determine whether the user is currently wearing the wearable device. For example, the wearable device can identify periocular features in the image acquired by the inward-facing imaging system. If the wearable device does not identify any periocular features, the wearable device may determine that the user is not wearing the wearable device. In other situations, the wearable device may calculate a likelihood that the user has removed the wearable device based on a degree of presence of the user's periocular features. For example, the wearable device may determine that periocular features in the images are sufficiently small (e.g., below a threshold size) that the device has been removed from the user's head. As another example, the wearable device may calculate how a percentage likelihood that the user has removed the wearable device and compare the percentage likelihood with a threshold value. If the percentage likelihood is above the threshold value, the wearable system may indicate that the wearable device has been removed from the user's head. On the other hand, the wearable system can calculate that a percentage likelihood that the user is still wearing the wearable device and compare that value against a threshold value on the likelihood of that the user is wearing the wearable device. If the percentage likelihood drops below the threshold value, the wearable device may determine that the user has removed the wearable device.
As another example, the wearable device can analyze a series of images acquired by the inward-facing imaging system. For example, although the periocular features do not appear in the first several images in the series, the inward-facing imaging system can discover periocular features in later acquired images. As a result, the wearable device may determine that the user just put on the wearable device. On the other hand, the periocular features may initially appear in the images, but the wearable device later discovers that the periocular features are no longer in the present FOV (or are sufficiently small). The wearable device can then determine that the user has taken off the wearable device.
Additionally or alternatively, the wearable device may use distance, size of the periocular features, and/or other factors to determine whether the wearable device is in place or has been removed. For example, although the wearable device may detect periocular features in an image, the periocular features may appear to be too small. As a result, the wearable device may determine that the distance between the wearable device and the user may be sufficiently far such that the user is not currently wearing the wearable device.
The wearable device can use other sensors together with the inward-facing imaging system to determine the relative position between the user and the wearable device. For example, the wearable device may use the sensors described herein, such as IMUs (e.g., accelerometers or gyroscopes), and so on, to detect a movement of the wearable device. This information of movement may be used together with image analysis to determine whether a user has taken off or put on the wearable device. As an example, the wearable device may detect an acceleration of the wearable device while acquiring a series of images using the inward-facing imaging system. If the wearable device does not detect the periocular region in an initial image of the series of images, the wearable device may determine that the user is putting on the device. On the other hand, if the periocular region was in the images acquired by the inward-facing imaging system and the wearable device detects an acceleration of the wearable device, the wearable device may determine that the user has removed the wearable device.
As another example, the wearable device may have a pressure sensor. The pressure sensor may be located at the temple (such as the earpieces) of glasses, or the nose pad of the wearable device. When the wearable device is put onto the user's face, the pressure sensor may send a signal indicating that the wearable device touches the user. On the other hand, when the user takes off the wearable device, the pressure sensor may acquire data suggesting that it no longer presses the user. This information may be combined with the images acquired by the inward-facing imaging system to determine whether the user has taken off or put on the wearable device.
Once the wearable device determined that it has been removed from the user's head, the wearable device may accordingly send a signal which turns off one or more functions of the wearable device or enter power saving mode when the wearable device is removed from the user. On the other hand, when the wearable device determines that the user has put on the device, the wearable device may send a signal which turns on a function (such as the activation of the AR/VR/MR display) of the wearable device.
The wearable device can also adjust the 3D display based on the relative position of the wearable device and the user's eyes. For example, when the wearable device detects that the device slips down the user's nose, the wearable device may shift the location of the pixels or change the position of a virtual object in the 3D user interface to accommodate this change in position. This implementation may provide a realistic and stable 3D display while the user is moving around in his environment.
The wearable device can continuously monitor whether the periocular region appears in the images. The wearable device can also select an image among a series of images acquired by the inward-facing imaging system, and determine whether the periocular region appears in that image. The continuous monitoring can occur at closely spaced time intervals, which may be periodic (e.g., every second, every 10 seconds, every minute, every 15 minutes, etc.).
In some embodiments, the inward-facing imaging system may continuously obtain images in its FOV. The inward-facing imaging system, however, may also start or stop imaging in response to a trigger. For example, the wearable device may be configured to start imaging the user's face when it detects that the user is putting on the wearable device. The wearable device can use various sensors described with reference to
Another trigger may be the distance between the wearable device and the user. For example, the sensors may emit and receive signals such as acoustic or optical signals, and use the signals or the feedback of the signals to measure the distance. The wearable device may also determine the distance by analyzing images acquired by the inward-facing imaging system. For example, the wearable device may calculate the distance based on the size of the face in the image, where a big size may indicate a small distance while a small size may indicate a large distance. The wearable device may image the user when the distance passes a threshold or is within a certain range. For example, the wearable device may only image the user when the wearable device is within a certain distance to the user.
At block 1510, the inward-facing imaging system can acquire a series of images. The HMD can receive the images acquired by the inward-facing imaging system. The series of images may be taken in a sequence. For example, the series of images may include frames of images at different timestamps of a video.
At block 1520, the HMD can analyze one or more images acquired in block 1510 to identify periocular features. As described with reference to
In some implementations, the HMD may reduce the resolution of the incoming images or ignore a portion of the image (such as center portion of the perioculus, including the iris and the sclera) and thereby increase the image processing speed. These implementations may be advantageous because the center portion of the perioculus may have detailed characteristics which may not significantly affect the determination of whether an HMD is on the user. Furthermore, the sclera may create specular reflections of objects in the environment. These specular reflections and detailed characteristics of perioculus can introduce noise to the machine learning models and decrease the accuracy of the analysis.
At block 1530, the HMD can determine whether the periocular features do not appear in the acquired images. If the HMD determines that one or more periocular features do not appear in the acquired images, the HMD can emit a signal indicating that the HMD has been removed from the user's head at block 1532. The signal may cause the HMD to power off or enter sleep mode to reduce battery power consumption. The signal may also cause the HMD to stop performing certain functions. For example, the signal may cause the HMD to turn off the VR or AR mode. The emitted signal could be an electronic signal but may additionally or alternatively include an audible or visible signal as a warning to the user.
If the HMD determines that the periocular region only appears in a subset of the image at block 1540, the HMD may indicate a change of state for the HMD at block 1542. For example, the HMD may determine that the periocular features appear in an initial image but not a later image. Based on this determination, the HMD may indicate that the user has taken off the HMD. In some implementations, the HMD may send a signal indicating that the user has taken off the HMD which may cause the same actions as shown in block 1532 to be performed.
On the other hand, the HMD may detect that the periocular features only appear in a later image. Accordingly, the HMD may determine that the user has put on the device. In response to this determination, the HMD may turn on the virtual reality or augmented reality function of the HMD, initiate a user login sequence, change the resolution of the inward-facing imaging system (e.g., to a resolution more suitable for eye-tracking or iris recognition), or perform other actions to reflect this change of state.
However, if the HMD detects periocular features in both the initially acquired images and later acquired images, the HMD may determine that the user is currently wearing the HMD at block 1544. Accordingly, the HMD may optionally perform the block 1510.
Although the examples are described with reference to detecting the periocular region, these techniques described herein are not limited to the periocular region. For example, the techniques described herein can also be used to detect other facial features or portions of the user's body. In addition, the blocks shown in
Example Processes of Generating a Mapping from a Periocular Image to a Relative Position Between a Wearable Device and the User's Face
At block 1566, the HMD can provide to the user information about the quality of the measured fit of the HMD on the user's head. For example, the HMD may display a quality grade to the user or emit an audible signal indicating quality of fit. The HMD may display instructions to the user (or provide audible instructions) on how to improve the fit of the HMD on the user's head, acquire additional eye images (block 1562), and determine an updated quality of fit (block 1564). The HMD may repeat this until the quality of fit of the HMD on the user's head is at an acceptable or optimal level. Accordingly, the HMD may lead the user through a quality fitting procedure to ensure the fit of the HMD on the particular user's head is suitable. The HMD may perform this quality fitting procedure the first time a particular user puts on the HMD, periodically, or when the measured quality of fit is below a threshold (e.g., on an A-F grade scale, when the quality grade is below a C).
Blocks 1562, 1564, 1566 are optional but provide an advantageous level of user customization. Further, the mapping can be customized for each of a number of users of the HMD (e.g., a family may share use of a single HMD and can customize a mapping for each family member).
Examples of a Wearable Device with Power Saving Functionality
A head-mounted display (HMD) can be equipped with power saving functionality in addition to one or more of the features described above. The power saving functionality may be included as hardware, software, or a combination of hardware and software.
Hardware is one dimension of the HMD that can be improved to reduce power consumption. Cameras in the HMD are a category of hardware that generally consumes substantial power resources. For example, one or more outward-facing cameras (e.g., part of the outward-facing imaging system 464 (shown in
Software can be used to help achieve this balance. Software algorithms can be used in connection with the hardware to determine when a frame rate should be higher and when it should be lower. Thus, software algorithms can help govern the power-intensity of the hardware. For example, a variable frame rate algorithm (VFRA) can be implemented in combination with the HMD to determine and/or modulate the frame rate of one or more cameras associated with the HMD (e.g., the outward-facing cameras).
The VFRA may work in combination with a Head Pose (HP) system (such as the one disclosed herein). For example, the VFRA may receive output from the HP system. The HP system can determine a head pose of a user. The HP system can include a system for determining a movement of the user's head relative to at least a portion of the environment around the user. For example, the HP system may include a feature detection and tracking (FDT) system and/or an inertial measurement unit (IMU) to determine the movement (e.g., of the HMD). The IMU may include a Visual Inertial Odometry (VIO) system to process visual information as the system determines the movement of the HMD. The metric of movement (or motion property) may be a velocity (e.g., angular velocity, linear velocity), an acceleration (e.g., angular, linear), or any other type of movement disclosed herein.
The FDT system can detect and track a set of features using one or more cameras. One or more algorithms may be used to track and/or identify the features. For example, a Harris algorithm (e.g., the Harris affine region detector) may be used to identify features, such as corners, in an environment. Additionally or alternatively, a Sobel filter (e.g., using a Sobel operator) can be used to identify and/or detect features, such as edges. The features may be elements within the real world or environment about the user. Features in the environment may be edges, corners, or other distinguishable elements in the environment. The HP system can include a system for determining an angular and/or positional velocity of the HMD relative to the environment. The system for determining the angular/positional velocity can include the FDT system.
The FDT system may include a filter, such as an algorithm, for identifying features in an environment and tracking their movement relative to the HMD. The filter may include a Kalman algorithm, such as an Extended Kalman Filter (EFK), to help distinguish more relevant elements from less relevant elements in a user's view.
The Visual Inertial Odometry (VIO) system can include one or more sensors to determine a movement of the user's head relative to the user's environment. The one or more sensors can include a gyroscope, an accelerometer, depth sensor, proximity sensor, and/or an inertial sensor. The VIO system can be used to provide an estimate of the angular and/or positional velocities using the one or more sensors. The HP system may use data from both the FDT and the VIO to increase the accuracy, speed, and/or efficiency of the HP system in determining head pose, angular velocity, and/or linear velocity.
The frame rate of the one or more outward-facing cameras can be modulated by the variable frame rate algorithm (VFRA). The VFRA uses the output of the HP system to determine when to increase or decrease the frame rate across an array of cameras. Since the user is wearing the device and possibly turning his/her head and/or body, the contribution of the positional or linear velocity may be negligible under certain circumstances compared, for example, to the angular or rotation velocity.
The HMD may additionally or alternatively provide functionality to modify performance of the HMD, such as the outward-facing imaging system (e.g., the outward-facing imaging system 464), based on perceived motion of the HMD relative to the user's environment. It may be advantageous to have a higher frame rate for cameras that are tracking and/or imaging features (e.g., objects) that appear to be travelling at a higher velocity relative to the HMD than other objects. Higher frame rates can provide better clarity and/or resolution for faster-travelling objects. By contrast, slower frame rates may be sufficient to capture and/or track slower-travelling (or stationary) objects in the environment. Accordingly, frame rate modulation can be advantageous for a single camera or an array of cameras.
The HMD may provide triggers and/or thresholds that shift a frame rate from one frame rate state to another. Triggers may include a time threshold, a velocity threshold, another motion threshold, or any other satisfied condition. These triggers may cause one or more cameras on the HMD to transition (e.g., temporarily) to a different frame rate state. For example, when the HMD undergoes limited movement the frame rate may be reduced. Conversely, when the HMD undergoes increased movement, the frame rate may be increased. The HMD movement may be measured by a motion sensor such as an inertial measurement unit (IMU). Relative movement of the HMD may also be measured with one or more outward facing cameras. Power conservation may be achieved by operating the outwardly facing camera(s) at lower frame rates when relative motion between the HMD and the environment is not as high (e.g. when the user is not moving his or her head and/or when objects in the environment are not moving). Conversely, when relative movement between the HMD and the environment is higher, the frame rate can be increased such that the outward facing camera(s) can capture sufficient details in the environment, for example, for suitable mapping of the environment. Accordingly, the frame rate of the HMD may be raised or lowered depending on the circumstances, for example, depending on head movement of the user and/or movement of objects in the environment. For example, the HMD may begin with cameras in the slow frame rate state 1204. At the beginning of being in the slow frame rate state 1204, a slow state timestamp may be stored in a storage unit in communication with the HMD (e.g., the local data processing module 260 or the remote data repository 280). A transition 1216 from slow to medium may occur when an angular velocity of the HMD meets or exceeds a medium state velocity threshold. The frame rate of the camera is increased or raised during the transition 1216. The medium state velocity threshold may be (in degrees/second) about 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165, 170, 175, 180, 185, 190, 195, 200, 205, 210, any value between those values, any range between any of these values, or fall within any range defined by any of those values. The slow frame rate state 1204 may continue while the HMD does not detect the medium state velocity threshold or higher (e.g., while the HMD stays within a slow state velocity threshold, such as one below the medium state velocity threshold). Once in the medium frame rate state 1208, the one or more cameras of the HMD may remain in the medium frame rate state 1208 until a different trigger occurs. This different trigger may cause the cameras to transition to a faster frame rate state, such as the fast frame rate state 1212, or to transition to a slower frame rate state, such as the slow frame rate state 1204.
Transitioning back and forth between two states may cause irritation to a user or may needlessly use power resources. Accordingly, it may be advantageous to maintain medium frame rate state 1208 for at least some amount of time (or at least to prevent the cameras from re-entering the slow frame rate state 1204 for some amount of time). For example, the cameras may be configured to remain in the medium frame rate state 1208 until a trigger causing a transition 1220 from medium to slow or a trigger causing a transition 1224 from medium to fast.
The transition 1220 from medium to slow may occur when a threshold length of time elapses. This threshold time may be based at least in part on how long the cameras have been in the medium frame rate state 1208. For example, a medium state timestamp may be stored and compared to a total time in the medium state. The medium state timestamp may correspond to a time when the HMD detects an angular velocity equal to or greater than the medium velocity threshold. Additionally or alternatively, the medium state timestamp may be stored only if the detected angular velocity is lower than a maximum velocity (e.g., the fast velocity threshold described herein). If the comparison reveals that the camera has been in the medium frame rate state 1208 longer than the medium time threshold, the camera may enter the transition 1220 from medium to slow. Thus, the frame rate of the camera is reduced or lowered during the transition 1220. The transition 1220 from medium to slow may be immediate or gradual over time. The medium time threshold (in seconds) may be about 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1, 2, 3, 4, 5, 8, 10, any value therebetween, any range between any of these values, or fall within a range defined by any value therein. In some embodiments, each time the HMD detects a velocity (e.g., angular velocity) that satisfies the medium velocity threshold, the medium state timestamp may be updated to reflect the time when the medium velocity threshold was satisfied.
The transition 1224 from medium to fast may occur at least in part based on a perceived angular velocity of the HMD. In some embodiments, the transition 1224 may be based at least in part on a length of time that the camera is in the medium frame rate state 1208. The camera may transition from medium to fast if, while in the medium frame rate state 1208, the HMD detects an angular velocity greater than or equal to a fast velocity threshold. The frame rate of the camera is increased or raised during the transition 1216. In some embodiments, the transition may occur if the camera has been in the medium frame rate state 1208 beyond the medium time threshold. The fast velocity threshold may be (in degrees/second) about 150, 155, 160, 165, 170, 175, 180, 185, 190, 195, 200, 205, 210, 215, 220, 225, 230, 235, 240, 245, 250, 255, 260, 265, 270, 275, 280, any value between those values, any range between any of these values, or fall within any range defined by any of those values. Once in the fast frame rate state 1212, the camera may remain in the fast frame rate state 1212 until a different trigger occurs. This different trigger may cause the camera to transition to a faster frame rate state or to transition to a slower frame rate state, such as either of the slow frame rate state 1204 or the medium frame rate state 1208.
Once in the fast frame rate state 1212, the camera may be configured to remain in the fast frame rate state 1212 until a trigger causing a transition 1228 from fast to medium or a transition 1236 from fast to slow. Thus, the frame rate of the camera is reduced or lowered during the transition 1236. The transition 1228 from fast to medium may occur when a threshold length of time elapses. This threshold time may be compared with how long the HMD has been in the fast frame rate state 1212. For example, a fast state timestamp may be stored and compared to a total time in the fast state. If the comparison reveals that the camera has been in the fast frame rate state 1212 longer than the fast time threshold, the camera may enter the transition 1228 from fast to medium. The transition 1228 from fast to medium may be immediate, gradual over time, or delayed. The fast time threshold (in seconds) may be about 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1, 2, 3, 4, 5, 8, 10, any value therebetween, any range between any of these values, or fall within a range defined by any value therein. In some embodiments, each time the HMD detects a velocity (e.g., angular velocity) that satisfies the fast velocity threshold, the fast state timestamp may be updated to reflect the time when the fast velocity threshold was satisfied.
A transition 1236 from fast to slow may be possible in certain embodiments. The transition 1236 from fast to slow may be based at least in part on a threshold length of time (e.g., as with the medium time threshold and/or the fast time threshold). Additionally or alternatively, the transition 1236 from fast to slow may be depend on one or more velocities detected while the camera is in the fast frame rate state 1212. For example, the transition 1236 from fast to slow may occur when (supposing the threshold length of time has elapsed) no velocity greater than the slow velocity threshold has been detected. In some embodiments, the transition 1228 from fast to medium may occur when (supposing the threshold length of time has elapsed) no velocity greater than the medium velocity threshold has been detected. In some embodiments, the amount of time required to elapse in order to transition from fast to slow is greater than the amount of time required to elapse in order to transition from fast to medium. In some embodiments, the amount of time is approximately equal to a sum of the fast and medium time thresholds. Other alternatives are possible.
A transition 1232 from slow to fast may occur when an angular velocity meets or exceeds a fast state velocity threshold, such as the fast state velocity described herein. Once in the fast frame rate state 1212, the camera may remain in the fast frame rate state 1212 until a different trigger occurs. This different trigger may cause the camera to transition to a faster frame rate state or to transition to a slower frame rate state. As with any other transition herein, the transition may be immediate (e.g., essentially instantaneous) or may be gradual over time or delayed.
Each state 1204, 1208, 1212 may be associated with a corresponding frame rate. The slow frame rate state 1204 may correspond to a slow frame rate. The slow frame rate (in frames per second (fps)) may be about 0.1, 0.2, 0.3, 0.4, 0.5, 0.7, 1, 2, 3, 4, 5, 8, 10, 12, 15, 17, 20, 22, 25, any value therebetween, any range between any of these values, or fall within any range between any value therein. The medium frame rate state 1208 may correspond to a medium frame rate. The medium frame rate (in fps) may be about 10, 12, 15, 17, 20, 22, 25, 27, 30, 32, 35, 37, 40, 42, 45, 47, 50, 52, 55, any value therebetween, or fall within any range between any value therein. The fast frame rate state 1212 may correspond to a fast frame rate. The fast frame rate (in fps) may be about 30, 32, 35, 37, 40, 42, 45, 47, 50, 52, 55, 57, 60, 62, 65, 67, 70, 72, 75, 80, 100, 150, 200, 250, any value therebetween, any range between any of these values, or fall within any range between any value therein.
The motion property may be a property of the HMD without regard to the environment. Additionally or alternatively, the motion property may be determined in relation to (or relative to) some other object or set of objects (e.g., the user's environment). A motion sensor (e.g., inertial sensor, depth sensor, proximity sensor, accelerometer, etc.) or combination of sensors may be used to determine the motion property. Additionally or alternatively, a device (e.g., the HMD) may be used to identify features within an environment using outward-facing cameras and to determine the motion property by a motion of the identified features.
At block 1108, the method may include setting, based on the motion property, a frame rate of the camera. The motion property may be required to meet and/or exceed a threshold value, such as any value described herein. In some embodiments, the motion property may be required to fall within a certain range, such as a range described herein. The frame rate may be any frame rate described herein.
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The HMD can be configured to modulate the frame rate of one or more of the cameras 1320, 1324, 1328, 1332. The modulation may be based at least in part on a number and/or determined importance of the one or more features 1336 that are detected in the user's and/or camera's field of view. For example, as shown at the first time 1304, the first camera 1320 and the fourth camera 1332 each are configured at 60 frames per second (fps). This is because the number of features 1336 in each of their fields of view are relatively high. Accordingly, a processor (e.g., remote, internal) has determined that the those HMD cameras should operate temporarily at the higher frame rate. Meanwhile, the second camera 1324 and the third camera 1328 operate at lower frame rates during the first time 1304 because fewer interesting features 1336 are present. A feature 1336 may be interesting if it meets a threshold metric of interest. The metric of interest may include a velocity or other motion property of the feature. In some embodiments, the HMD can be configured to predict which camera will soon receive a higher number of features 1336 (e.g., interesting features) and can anticipatorily increase the frame rate of the camera(s) expected to detect the higher number of interesting features 1336. Which cameras and how many are to be anticipatorily increased in frame rate may depend on the detected angular velocity of the HMD, as described herein.
Additionally or alternatively, which cameras are operating at a higher frame rate may be at least partially based on how many features of interest are in (or predicted to be) in a camera's field of view and/or to what extent those features of interest are interesting. A feature may be interesting if it is relatively high quality or has a high quality metric. The quality metric may be based, for example, on how stable and/or clear the feature is from frame to frame and/or from one camera to another camera. For example, fuzzy or unclear features may not be as high of quality and thus may not be considered as interesting in terms of how the HMD treats the feature. Additional quality metrics may include how fast the object appears to be travelling, how large the object is in the viewer's field of view, how bright the object is, a degree of contrast between the object and its surroundings, or other parameters and/or quality metric. A camera may operate at a higher frame rate when more and/or more interesting features (e.g., features of interest) are present or predicted to soon be in the camera's field of view.
The determination of which feature or features are interesting (e.g., features of interest) may depend additionally or alternatively on other factors. For example, the determination may depend on an identified velocity of the one or more features across the view of the camera. For example, the identified velocity may exceed a predefined velocity threshold. Additionally or alternatively, the interesting features may be those at which the user has directed its gaze. Because the HMD may be able to track the gaze of the user, the features viewed by the user may be more interesting, and the corresponding camera(s) capturing those features may be set at higher frame rates. The features 1336 may be more interesting if they appear to be growing and/or shrinking in size, particularly if this occurs over a relatively short time period. The features 1336 may be more interesting if they are otherwise changing shape, size, or character (e.g., flashing). In each case, the nature of the features 1336 may change even though the features 1336 are relatively stationary in the environment or while the user is relatively stationary. Thus, whether the user is in motion may not be determinative of whether the cameras 1320, 1324, 1328, 1332 are operating at a higher or lower frame rate. In some embodiments, however, the HMD may be configured to modulate the frame rate of the cameras 1320, 1324, 1328, 1332 only when it determines that the HMD is in motion and/or is being worn. For example, pressure sensors or other sensors may be used to make this determination, as described herein.
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As described herein, the frame rates of one or more of the cameras may be based on a detected apparent rotational or linear velocity of the features 1336 relative to the HMD. Additionally or alternatively, the frame rates may be based on a number of interesting features 1336 and/or a quality metric thereof detected by the one or more outward-facing cameras. A frame rate of one camera may be based on image data received from another camera, such as a neighboring camera. The image data could include, for example, a direction and/or speed of a feature (e.g., a feature of interest) in the environment. Accordingly, determining a frame rate of one camera may be based on the image received from another camera (e.g., a neighboring camera). The determination of the frame rate may include predicting a trend of a location of one or more features within a field of view of the camera (e.g., by determining a trajectory of a feature and/or by calculating a probability that the feature in the image received from the first camera is detected in an image received by the second camera). Accordingly, the HMD can adjust (e.g., increase, decrease) the frame rate of one camera based on the image received from the other camera.
The frame rate determined may be based in part on a frequency of electrical current within the HMD. For example, it may be advantageous to reduce or minimize the number of frames that do not return a proper signal. A banding effect can occur, which may include a dark, degraded, or otherwise improper signal. The banding effect may occur, for example, when a frame rate and the frequency of the electrical current in a particular country or region are such that a frame rate and the electrical signal prevent a fully integrated image capture. For example, the banding effect may reduce an intensity of a color during one or more frames as a sensor in the camera integrates the light over time. Accordingly, it may be beneficial to set a frame rate that does not result in such a degraded or improper image capture (e.g., by not having the frame rate be or the electrical signal frequency be an integer multiple of one another).
The HMD can be configured to track various features across the one or more cameras. Once a feature is detected, the cameras may track the feature. The tracking of the feature may include scanning a search region of subsequent frames where the feature is expected to be found, based on a prior (e.g., original) frame. The HMD may be able to modify a position of the search region of the feature in subsequent frames. The modification of this position may be based on a detected and/or calculated speed and/or direction of the feature in a previous frame. The speed and/or direction and/or other parameters may be calculated using two or more prior frames.
In tracking the features, the HMD can be configured to take into account multiple frame rates. For example, a location of the search region in a particular frame of a camera may be based on the frame rate of the camera. Once the speed and/or direction of a feature is determined, a series of search regions in subsequent frames may have a location on each frame that does not move substantially during high frame rates. Additionally or alternatively, the search region may be smaller in frames where a high frame rate of video is being captured since a level of uncertainty from frame to frame is relatively low. By contrast, where a feature is moving from frame to frame while a camera captures video at a low frame rate, a greater uncertainty may arise as to where the feature may be located in each frame. Accordingly, a search region of each frame during lower frame rates may be greater than the search region of frames during higher frame rates to account for the uncertainty.
Other considerations, such as motion of the features relative to the HMD and motion of the HMD itself may be considered while tracking and/or identifying various features. For example, between different frames, the HMD may generally seek to maintain a common feature search area (e.g., search radius) at different ranges of angular velocity. Accordingly, a higher frame rate may be used for features that appear to be moving at a higher angular and/or linear velocity. However, in some circumstances as the detected angular velocity increases, the search area of where the system seeks to find/track the feature can be larger. Additionally or alternatively, the search area may become larger when the time between frames increases (e.g., during lower frame rates). The opposite of either case may be true as well.
When the HMD is rotated, the outward-facing cameras may detect a previously undetected field of view. In such circumstances, a high frame rate may be used since an as-yet undetermined number of features (e.g., features of interest) may be detected or predicted to be detected by the camera(s). For example, as a user rotates the HMD to the user's left, the left-most camera may operate at a high frame rate until the new environment at the left has been detected and/or until any features of interest have been identified. The new features of interest that have been identified may begin to be tracked by the HMD. For example, if a user rotates the HMD to the left (e.g., the environment appears to rotate to the right), a left-most camera may have a faster frame rate than another camera (e.g., a right-most camera). Additionally or alternatively, if a user rotates the HMD to the right (e.g., the environment appears to rotate to the left), a right-most camera may have a faster frame rate than another camera (e.g., a left-most camera).
As discussed above, one or more outward-facing cameras on the head mounted display system can be used to obtain information about a user's surroundings. Such cameras can be useful in mapping the environment for the subsequent insertion of virtual content as if the virtual content existed in the real world.
As discussed herein, augmented reality may be used to merge the display of real content with virtual content. A user may be able to look through a transparent display to see the real world while the display projects virtual content into the user's eyes such that the virtual content appears to be located with respect to, e.g., adjacent, in front of and/or behind, objects in the real world. Because in augmented reality systems, virtual image content may be displayed to a user as if the image content is located at a specific position or location in the real environment, the system advantageously can track information corresponding to the environment to provide sufficient detail about the real world for the system to realistically integrate the virtual objects in the real world environment. The outward facing cameras can be used to image the environment around (e.g., in front of, on one or more sides of, etc.) the user and collect such information about the real world. Accordingly, in some scenarios, the one or more cameras are configured to image the environment continuously or substantially continuously at a designated frame rate.
Using the information about the environment obtained from these sensors, the system can associate or introduce the virtual content into or attach the content to the environment so as to make the virtual content appear to be located at a particular place in the environment. The virtual content, therefore, has associate with it a location. The virtual content may thus “exist” in real locations in the real world (e.g., the software may track a real location with which the virtual content is associated using one or more devices, such as one or more cameras or other sensors described herein).
With more detailed and accurate information about the environment, the display can more accurately, precisely, and/or realistically associate the virtual content with the location. In certain conditions, obtaining a larger quantity of details about the surroundings may be particularly helpful. For example, rapidly acquiring details about the environment may be particularly beneficial if new portions of the environment are being imaged and/or mapped for the first time or for the first time in a while. Similarly, larger amounts of detail may be desirable when a user's or the user's head is moving quickly. Actively increasing data collection can thus be pursued, for example, if the system predicts that the head mounted display may be in such a situation where more detailed information about the environment would be beneficial.
A significant quantity of accurate information about the environment can be obtained by operating the one or more cameras at a higher frame rate or maintaining operation of the cameras at such a higher frame rate. For example, as discussed herein, the system may run one or more of the cameras at a higher frame rate if the user swivels her head, if the user is exploring unknown (e.g., unimaged) territory, and/or if the user is viewing or will be viewing areas that have not been recently imaged. As discussed herein, operating the camera(s) at higher frame rates can also be useful if the system knows that virtual content is immediately outside the field of view of the display, as the user may turn their head very soon to center and focus on this virtual content once a small portion of this virtual content moves into the user's field of view. The user may thus be viewing a portion of the environment that the viewer has not previously viewed or view recently and thus might not have been sufficiently mapped or mapped in some time. The user's field of view or the camera field of view in this context may in some cases be referred to as a viewing zone (although the viewing zone need not be so limited and may refer to regions that are not limited such fields of view). Accordingly, in some implementations, if virtual objects are immediately outside the field of view, for example, of the camera or other viewing zone, the frame rate of the camera may be beneficially set at a high level as the user is likely to turn his or her head and cause this area that was just previously outside the viewing zone or field of view to be within the viewing zone and field of view if the virtual object moves slighting into the viewing zone or the field of view. As referenced above, significant quantities of accurate information about the environment can be obtained by operating or maintaining the operation of the one or more cameras at a higher frame rate. Accordingly, knowing where virtual objects are located in the environment may be useful in determining the frame rate, and in particular whether the frame rate should remain high or be set to a higher level or be reduced.
As discussed above, power consumption, battery lifetime and device overheating may also be considerations. Accordingly, using a variety of methods, the head mounted display system can be configured to reduce power consumption associated with operation of the one or more outward-facing cameras and/or with the processing of images obtained therefrom. For example, power consumption may be curtailed by modifying (e.g. decreasing) a frame rate at which the one or more cameras obtain images of the environment. This frame rate may directly affect the amount of power used by the HMD. Although a higher frame rate can produce a higher quality (e.g., higher frame rate) video feed and yield more detailed data, as noted above, higher frame rates generally result in greater power consumption and possibly increased heating. Alternatively, or in addition, power consumption can be lowered by reducing the amount of processing performed on the frames captured by the camera. For example, the number of frames captured by the cameras that are processed can be decreased. For instance, only half, a third, a quarter, a fifth, an eighth, a tenth, etc., of the frames may be processed to reduce computations and the power consumption involved in execution such computations. For example, only 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90% of the frames captured by the camera (or any range between any of these values), can be processed. Similarly, a portion of the frames captured by the camera can be processed to a lesser extent than other frames captured by the outward facing camera(s). For example, 20%, 30%, 40%, 50%, 60%, 70%, 80% of the frames captured by the camera (or any range between any of these values), can be processed less than other frames. Fractions or percentages outside these ranges are also possible. A lower frame rate or processing a smaller number of frames or reducing the processing of at least a portion of the frame, or any combination of these approaches, may result in a lower quality video feed or data acquired therefrom but can preserve power. Balancing the consumption of power with video feed quality and quality of data obtained therefrom can be challenging. Systems described herein, however, can be configured to improve the efficiency at which power and computing resources are utilized.
Various methods can be used to help achieve this balance between power consumption and useful video feed and the acquisition of data therefrom. Software algorithms can be used in connection with the hardware to determine when a frame rate or number of frames processed should be higher (e.g., remain high) or lower (e.g., be reduced). Thus, software algorithms can help govern the power consumption (and heating) of the hardware. The one or more algorithms can be implemented by the HMD system to determine and/or modulate the frame rate of one or more cameras associated with the HMD (e.g., the outward-facing cameras) and/or the portion (e.g., number, fraction or percentage of frames) that are processed and/or the amount of processing of those frames.
The methods may work in conjunction with one or more other hardware components, such as sensors, e.g., motion sensors. The one or more sensors can include a gyroscope, an accelerometer, and/or an inertial sensor. The one or more sensors may include cameras that are configured, in conjunction with processing electronics, to detect changes in images and/or movement. In some designs, the sensor may detect movement. These cameras may include the outward facing cameras (e.g. whose frame rate or the amount of processing of images therefrom is being adjusted) and/or other outward facing cameras. In some designs, the system senses, measures and/or provides an estimate of the angular and/or positional velocities or accelerations of the HMD using the one or more sensors. For example, an inertial measurement unit (IMU) can be used to determine or help determine a movement of the HMD (as can potentially one or more cameras). In some implementations, one or more measurements associated with motion such as velocity or acceleration may be obtained and used to determine or predict whether the HMD has been moving, is moving and/or will move with respect the environment and objects therein. As described above, the HMD system can be configured to modify a frame rate of the one or more cameras (e.g., outward-facing cameras) and/or the portion of the acquired frames that are processed and/or the amount of processing based on the detection, identification, determination and/or prediction that the HMD is moving, has been moving, and/or will be moving with respect to the surrounding environment. In some implementations, for example, if the HMD is not moving, has not moved for a duration in time or is not expected to be moved, the camera frame rate and/or the portion of frames that are processed and/or amount of processing may be reduced thereby reducing power consumption. Additionally, or in the alternative, assessment of whether one or more features or objects in the environment have moved, are moving or are expected to move may be used to determine whether to reduce frame rate and/or the amount of processing. An assessment regarding whether one or more features or objects in the environment have moved, are moving or are expected to move may be obtained using one or more outward facing camera.
Knowledge of the location of virtual content, however, can be used in the determination of whether to reduce the frame rate of the one or more cameras and/or a sampling rate of one or more other sensors and/or amount of processing. As noted, virtual content, while perhaps not yet in the field of view of a user, may be soon or imminently within a field of view of the user based on the content's own motion and/or the user's motion. The rate or speed of such motion may also be a consideration. As discussed above, the HMD system may be configured to identify the location where virtual content is to be displayed relative to the environment. The virtual content may “exist” in real locations in the real world (e.g., the software may be tracking a real location with which the virtual content is associated). Moreover, the virtual content and/or its location may be known and known to be associated with real locations in the real world even though the virtual content is not yet be displayed. The virtual content may be rendered by graphics processing unit(s), but may not be displayed until the user moves the HMD eyepiece sufficiently toward the location in the real world where the virtual content is associated. Once the HMD eyepiece is positioned such that the real world location of the virtual content is within the field of view of the eyepiece or display, the virtual content is displayed. Accordingly, this location may be associated with the virtual content. For example, a user may be looking straight ahead (with or without other content currently in the display). The system, meanwhile, may determine that virtual image content, such as a virtual robot or monster, would be displayed to the user if the user were to look slightly to the right. Anticipating the possibility that a user may imminently turn and look to the right, the system can set the one or more cameras that would capture information about the location in the environment associated with the virtual content at a higher frame rate (e.g., not reduce the frame rate or reduce the frame rate as much). Similarly, the number of frames processed and/or the amount of processing could be set to be higher or not reduce or not reduced as much. With this approach, the system can prepare for producing accurately placed images of the virtual content as if at the desired location in the environment with more accurate environmental awareness as the cameras have collected more information than if they were set to a lower frame rate. In this context, it may be useful to preemptively increase or not reduce or not reduce as much the frame rate of one or more cameras of the display system or the number of frames processed or the amount or processing or any combination of these.
Accordingly, whether the virtual content is ever displayed may be contingent on one or more factors, such as the position and/or orientation (e.g., direction) of the HMD. Nevertheless, in order to anticipate the possibility of displaying the renderable or potential virtual content, the system can preemptively adjust the frame rate (e.g., raise the frame rate) and/or adjust the number of frames processed (e.g., raise the percentage of total frames captured that are processed) and/or the amount of processing of frames. Thus, if the HMD does ultimately or soon display the virtual content overlaid on a real environment to create an augmented reality experience for a user, the higher frame rate may better allow the system to display the virtual image content on a location of the display in a manner so as to more accurately represent the image content as if it exists in a real place in the environment of the user. Consequently, undesired effects, such as jitter, glitches, noise, and other effects may be reduced if more information about the associated location in the environment (e.g., from a higher frame rate or processing of more frames) is available to the system.
Turning now to the drawings,
At block 1520, the method 1500 determines whether limited head movement (or movement of features or objects in the environment) is expected. As used in this context, “limited” may, in some implementations, refer to a degree of movement below a threshold. In some cased, the threshold amount of movement may refer to one or both of a linear and/or angular movement. The method 1500 may detect one or more of a variety of properties of motion, such as those described herein. For example, the method 1500 may detect or measure an angular velocity or angular acceleration of the camera. A threshold angular velocity, for example, may be used as a threshold in some cases and such a threshold angular velocity may be between about 35 degrees/s and 400 degrees/s in some implementations although the velocity should not be so limited. In certain implementations, a threshold angular acceleration may be used. A threshold angular acceleration may be used as a threshold in some cases and such a threshold angular acceleration may be, for example, between about 1 degree/s2 and 25 degree/s2 although other values include those outside this range are possible although the acceleration should not be so limited. These and or other factors may be used alone or in combination to determine if movement has occurred, is occurring or will occur. In various implementations, however, if a movement of the camera (e.g., a movement of a user's head) and/or one or more features or objects in the environment is above the threshold (e.g., is not “limited”), then the camera may continue or resume at the fast or high(er) frame rate. As noted above, however, motion of the camera and/or head mounted display may not be necessary for motion detection to occur. For example, changes in position or motion of one or more features in the environment may be detected (e.g., by one or more cameras, using for example SLAM) and/or determined to be expected and used in addition to or in alternative to detected and/or expected motion of the camera and/or head mounted display and may be sufficient to initiate the functionality described herein.
As referenced above, whether limited head movement is expected may be based on one or more determinations. For example, head movement may be expected if the system detects motion and/or that the environment of the user is changing, frequently changing and/or if objects or features of objects are or have been in motion in the environment and/or if some other indication of impending movement exists. By contrast, limited head movement may be expected if the head mounted display and/or environment is relatively unchanging, if the environment is dark, etc. Recent movement may indicate that movement is expected. Thus, if a user is or has recently made limited head movement, the method 1500 (e.g., via the system) may determine that limited head movement is also expected. As discussed above, a motion sensor may provide data regarding past or current movement. Similarly, if features or objects in the environment recently made limited movement, the method 1500 (e.g., via the system) may determine that limited movement is also expected. As discussed above, one or more cameras may provide data regarding past or current movement of features or objects in the environment. If limited head movement or movement of one or more features in the environment is not expected, the camera may continue or resume at the fast frame rate at the block 1510. Alternatively, if limited head movement and movement of one or more features in the environment is expected, the method 1500 may proceed to block 1530. In some implementations, the duration over which limited movement exists is considered. If limited movement has occurred for a period of time, the outward facing camera(s) may have had sufficient opportunity to map the environment, for example, in the viewing zone (e.g., field of view of the camera(s)). Accordingly, if the movement is reduced for at least such a duration, reducing to a lower frame rate and/or processing a less amount of date and/or a lesser number of frames may be sufficient as sufficient mapping may have already occurred and the environment in the viewing zone (e.g., field of view of the camera or cameras) is not changing.
At the block 1530, the method may determine whether virtual content is beyond a viewing zone, which may correspond to or include, for example, a field of view such as the field of view of the camera and/or of the user or may be another region. In some implementations, the viewing zone may comprise a cone of visibility or other angular range. The cone of visibility may be identified by an angle of view or angular field of view (see also
Outside the viewing zone or field of view, renderable virtual content may be ready to be rendered if a user moves the display to view the virtual content (e.g., to bring a location associated with the virtual content into the viewing zone or field of view of the camera). At the block 1530, if the method 1500 determines that the virtual content is beyond the viewing zone or field of view (e.g., of the camera), the method 1500 may proceed to the block 1510 and the camera's frame rate may be set to fast. If no virtual content is determined to be beyond the viewing zone (e.g., field of view of the camera), the method 1500 may proceed to the block 1540. At the block 1540, the camera's frame rate (and/or amount of processing) may be reduced. For example, the frame rate may be changed to a medium frame rate or a slow frame rate or any range of slower rates than the fast rate, as described herein. Any virtual content may be included only in the viewing zone which may already have been sufficiently mapped such that the frame rate and/or amount of processing of frames can be reduced. As discussed above, in some implementations, having reduced movement for a threshold duration of time is employed prior to reducing the frame rate and/or processing of the frames (e.g., so that sufficient time is provided to map the environment).
The method 1500 may proceed to the block 1550. At the block 1550, the method 1500 may determine whether head movement (e.g., beyond “limited” head movement) and/or movement of one or more features or object in the environment is detected. If no head movement and/or movement of one or more features or object in the environment is detected, the method 1500 can proceed to the block 1540 and loop until a head movement and/or movement of one or more features or object in the environment is detected. If a head movement and/or movement of one or more features or object in the environment is detected at any time at the block 1550, the camera's frame rate will be set to fast at the block 1510. For example, if the user rapidly turns their head, the frame rate may be set back to a faster rate.
In various implementations, the near field of regard 1610 extends beyond the view zone or field of view 1606 potentially on either side by an angle of the near field of regard 1640. The angle of near field of regard 1640 may be bounded by a boundary 1620 on either side. Outside or beyond the one boundary 1620 is the far field of regard 1614. One or both of the boundaries 1616, 1620 may represent cross sections of corresponding field cones. Only a cross section of each field cone is shown in
Various example objects 1624, 1628, 1632 may be associated with locations or located within one or more of the fields described. For example, the object 1624 is within the viewing zone or field of view 1606. The object 1628 is outside the viewing zone or field of view 1606 but is within the near field of regard 1610. The object 1632 is outside both the viewing zone or field of view 1606 and the near field of regard 1610 and is within the far field of regard 1614.
As discussed above, if no virtual image content (e.g. objects) are located outside the viewing zone and signals from the one or more motion sensors (e.g., IMUs) lead to a determination that the HMD is not expected to move (and possibly one or more features in the environment are not expected to move sufficiently, e.g., soon into the viewing zone or field of near regard), the frame rate of the camera and/or the number of frames processed and/or amount of processing may be reduced. If movement is anticipated (for example, head movement is anticipated or one or more features in the environment are expected to move sufficiently such as soon into the viewing zone or field of near regard), the frame rate and/or number of frames processed and/or amount of processing may be increased.
If virtual image content (e.g. objects) is located outside the viewing zone in the near field of regard and signals from the one or more motion sensors (e.g., IMUs) lead to a determination that the HMD is not expected to move, the frame rate of the camera and/or the number of frames processed and/or amount of processing may nevertheless be set higher or remain higher. Anticipated movement would also be the basis for setting the frame rate and/or number of frames processed and/or amount of processing to a higher level.
If virtual image content (e.g. objects) are located outside the viewing zone in the far field of regard (and not the near field of regard) and signals from the one or more motion sensors (e.g., IMUs) lead to a determination that the HMD is not expected to move (and possibly one or more features in the environment are not expected to move sufficiently, e.g., soon into the viewing zone or field of near regard), the frame rate of the camera and/or the number of frames processed and/or amount of processing may be reduced. If movement is anticipated (for example, head movement is anticipated or one or more features in the environment are expected to move sufficiently such as soon into the viewing zone or field of near regard), the frame rate and/or number of frames processed and/or amount of processing may be increased.
A wide range of variations in system configuration and method are possible. For example, in addition to or in alternative using a motion detector such as an inertial measurement unit, accelerometer, gyroscope, etc., a camera may be used to sense relative movement of the HMD with respect to the environment or objection in the environment. The camera may, for example, image the environment and/or objects therein and image processing may be performed to identify features and/or movement of features and/or features of objects with respect to the HMD. If the HMD moves such relative movement may be detected. Similarly, even if the HMD is not moving, movement of features in the environment may be detected. If such movement is detected and/or anticipated, the camera(s) may be set at a higher frame rate and/or the number of frames processed and/or amount of processing may be set high or remain high since obtaining details about the changing environment can be useful in positioning virtual content (e.g., in the viewing zone). Checking for changes in the images (e.g., a position of images in the images) obtained by the cameras can be useful because it may be desirable to track changes in the environment. Such changes may include, for example, people walking or other objects moving (e.g., cars, bicycles, animals). If there are such changes in the features being tracked in the room or environment, then setting a higher frame rate or rate at which the one or more cameras process the images may assist in tracking the moving objects. The one or more features in the environment that are detected may comprise at least one of an edge or a corner or other feature of an object in the environment. Detecting, using the camera, one or more features of the environment comprises using at least one of a Kalman filter, a Sobol algorithm, or a Harris algorithm. Other approaches are possible.
Additionally, the motion sensor may receive information about a motion of the system at a sampling rate. When the frame rate of the cameras or the number of frames processed is set to a lower level or reduced, the sampling rate of the motion sensor may be maintained at a higher level. In some implementations, the sampling rate of the motion sensor remains faster than the frame rate of the camera after reduction thereof. As discussed above, in various configurations, the motion sensor comprises an inertial sensor or accelerometer although one or more cameras may also be used.
Although altering the frame rate of a camera and/or processing a reduced number of frames from the camera and/or reducing the processing of frames from the camer is discussed above, multiple cameras, for example on the left eye side of the HMD or right eye side of the HMD may be employed. Adjustment (e.g., reduction) of the frame rate and/or the number of frames processed and/or amount of processing for a plurality of cameras (e.g., two or more cameras on the left eye side of the HMD and/or two or more cameras on the right eye side of the HMD) may be implemented. The two or more cameras may be adjusted together and by a similar amount. For example, the frame rate of a plurality of cameras (e.g., on the left eye side of the HMD and/or on the right eye side of the HMD) and/or number of frames from the plurality of cameras (e.g., on the left eye side of the HMD and/or on the right eye side of the HMD) processed (and/or the amount of processing) may be reduced by a similar amount for the multiple (e.g., pair of) cameras. Alternatively, the frame rate of a plurality of cameras (e.g., on the left eye side of the HMD and/or on the right eye side of the HMD) and/or number of frames from the plurality of cameras (e.g., on the left eye side of the HMD and/or on the right eye side of the HMD) processed (and/or amount of processing) may be altered (e.g., reduced and/or increased) by a different amounts. The outermost camera, for example may be set to a higher frame rate and/or the number of frames processed from the outermost camera may be higher and/or the amount of processing may be higher, for example, when image content is known to be just beyond the viewing zone (e.g., in the near field of regard), for example, more temporal than the viewing zone. In contrast, the innermost camera, for example, may be set to a higher frame rate and/or the number of frames processed from the innermost camera may be higher and/or the amount of processing may be higher, for example, when image content is known to be just beyond the viewing zone (e.g., in the near field of regard), for example, more nasal or medial than the viewing zone.
Example higher frame rates may be between 30 Hz to 60 Hz. For example, the higher frame rate may be 30 Hz, 40 Hz 50 Hz, 60 Hz, 70 Hz, 80 Hz, 90 Hz, 100 Hz, 110 Hz, 120 Hz or higher or any range between any of these values or possible outside these ranges.
Example lower frame rates may be 15 Hz, 10 Hz or below. For example, the lower frame rate may be 25 Hz, 20 Hz, 15 Hz, 10 Hz, 5 Hz or lower or any range between any of these values or possible outside these ranges.
Also, although higher and lower levels, for example, frame rates, numbers of frames processed and/or amounts of processing are discussed above, more than two discrete levels are possible and the system should not be limited to switching between set discrete levels but may vary more continuously depending on the circumstances (e.g., amount and/or rates of movement expected, location of virtual image content, etc.) in some implementations. As discussed above, in certain circumstances, the number of frames from the camera that are processed is set to a lower (or high) amount. This may include, example, processing a fraction of the frames a lesser amount than other frames and setting the number of frames that are processed by this reduced amount to a lower (or higher) amount.
Moreover, in various embodiments, the frame rate and/or the amount of processing (e.g., the number of frames captures that are processed, the amount of processing preformed on at least a portion of the frames) can be reduced (or increased) without consideration of where image content is located. Accordingly, different options discussed herein may be integrated in head mounted display systems without comparing where the virtual image content location is with respect to the viewing zone, near field of regard, far field of regard and/or field of view of the camera(s). Alternatively, different options, features, steps, and structures described herein may be combined with other approaches, methods, steps, features, and structures. Likewise, an assessment of relative motion between the head mounted display and one or more features in the environment can be combined with other structures, processes or process steps or features, for example, to alter the frame rate of the camera from a first frame rate to a second frame rate and/or adjust the amount of processing on the frames obtained by the camera that are processed.
In any of the examples described herein, the frame rate of the camera can be reduced without turning off the camera and/or the head mounted display and/or reducing the frame rate to zero. Similarly, the amount of processing on the frames obtained by the camera that are processed can be reduced without turning off the camera and/or the processing electronics performing the processing of the frames and/or without turning off the head mounted display. Likewise, the number of frames captured by the camera that are processed can be reduced without turning off the camera and/or the processing electronics performing the processing of the frames and/or without turning off the head mounted display.
A wide range of variations of, for example, the systems, devices, components, methods and process described herein are possible. For example, components can be added to, removed from or rearranged in the systems and/or devices described herein. Additionally, steps can be added to, removed from or rearranged in the methods and processes described herein. The systems, methods and devices disclosed herein each have several innovative aspects, no single one of which is solely responsible for the desirable attributes disclosed herein. A variety of example systems and methods are provided below.
1. A head mounted display system configured to project light to an eye of a user to display augmented reality image content in a vision field of said user and to image at least a portion of an environment in front of the user wearing the head mounted display system, said head-mounted display system comprising:
2. The system of Example 1, wherein the property of motion comprises an angular acceleration.
3. The system of Example 1 or 2, wherein the property of motion comprises a linear acceleration.
4. The system of any of Examples 1 to 3, wherein the property of motion comprises a motion property of the head-mounted display.
5. The system of any of Examples 1 to 4, wherein the property of motion comprises a motion property of the one or more features in the environment.
6. The system of any of Examples 1 to 5, wherein said camera comprises a detector array and imaging optics.
7. The system of any of Examples 1 to 6, wherein setting the frame rate of the camera is based at least in part on a frequency of electrical current within the head mounted system.
8. The system of any of Examples 1 to 7, wherein setting the frame rate of the camera is based at least in part on a determination that the head mounted display is being worn.
9. The system of any of Examples 1 to 8, wherein the property of relative motion comprises an angular velocity.
10. The system of any of Examples 1 to 9, wherein the property of relative motion comprises a linear velocity.
11. The system of any of Examples 1 to 10, wherein determining the property of relative motion of the head mounted display and the one or more features in the environment comprises determining that the property of relative motion exceeds a threshold.
12. The system of any of Examples 1 to 11, wherein determining the property of relative motion of the head mounted display and the one or more features in the environment comprises detecting, using the camera, one or more features of the environment.
13. The system of Example 12, wherein the one or more features of the environment comprises at least one of an edge or a corner of an object in the environment.
14. The system of any of Examples 12 to 13, wherein detecting, using the camera, one or more features of the environment comprises using at least one of a Kalman filter, a Sobol algorithm, or a Harris algorithm.
15. The system of any of Examples 1 to 14, wherein the frame rate is between about 20 fps and 45 fps.
16. The system of any of Examples 1 to 14, wherein the frame rate is between about 45 fps and 75 fps.
17. The system of any of Examples 1 to 16, wherein the hardware processor is further configured to execute the computer executable instructions in order to cause the camera to obtain images at the frame rate until a condition is met.
18. The system of Example 17, wherein the condition comprises a length of time.
19. The system of Example 18, wherein the length of time comprises a length of time after a determination that the property of relative motion has changed.
20. The system of any of Examples 18 to 19, wherein the condition comprises a determination of a higher value of the property of relative motion by the hardware processor, the higher value being greater than a value of the property of relative motion.
21. The system of any of Examples 1 to 20, wherein the hardware processor is further configured to execute the computer executable instructions in order to:
22. The system of Example 21, wherein the second property of relative motion comprises an angular velocity or angular acceleration.
23. The system of any of Examples 21 to 22, wherein the second property of relative motion comprises a linear velocity or linear acceleration.
24. The system of any of Examples 23 to 24, wherein determining the second property of relative motion of the head mounted display and the one or more features in the environment comprises determining that the second property of relative motion exceeds a minimum threshold.
25. The system of any of Examples 21 to 24, wherein determining the second property of relative motion of the head mounted display and the one or more features in the environment comprises determining that the second property of relative motion is below a maximum threshold.
26. The system of any of Examples 21 to 25, wherein determining the second property of relative motion of the head mounted display and the one or more features in the environment comprises detecting, using the camera, one or more features of the environment.
27. The system of any of Examples 21 to 26, wherein the second frame rate is greater than the frame rate.
28. The system of any of Examples 21 to 27, wherein the second frame rate is lower than the frame rate.
29. The system of any of Examples 21 to 28, wherein the hardware processor is further configured to execute the computer executable instructions in order to cause the camera to continue obtaining images at the second frame rate until a second condition is met.
30. The system of Example 29, wherein the second condition comprises a length of time.
31. The system of Example 30, wherein the length of time of the second condition comprises a length of time after a determination that the second property of relative motion has changed.
32. The system of any of Examples 29 to 31, wherein the second condition comprises a determination of a second higher value of the second property of relative motion by the hardware processor, the second higher value being greater than a value of the second property of relative motion.
33. The system of any of Examples 1 to 32, wherein the hardware processor is further configured to execute the computer executable instructions in order to:
34. The system of Example 1, wherein the third frame rate is greater than the first frame rate and the second frame rate.
35. The system of any of Examples 1 to 34, further comprising an inertial sensor.
36. The system of any of Examples 1 to 35, wherein determining the property of relative motion of the head mounted display and the one or more features in the environment comprises receiving a signal from the inertial sensor.
37. The system of any of Examples 1 to 36, wherein the property of relative motion comprises an angular velocity less than about 80 degrees per second.
38. The system of any of Examples 21 to 37, wherein the second property of relative motion comprises an angular velocity between about 80 degrees per second and 180 degrees per second.
39. The system of any of Examples 33 to 38, wherein the third property of relative motion comprises an angular velocity greater than about 180 degrees per second.
40. The system of any of Examples 12 to 39, wherein the system is further configured to determine a quality metric of at least one of the one or more features of the environment.
41. The system of Example 40, wherein the quality metric is based on a determination of a feature count for a number of features in the field of view of the camera or region thereof.
42. The system of any of Examples 40 to 41, wherein the quality metric is based at least in part on a number of frames in which at least one of the one or more features is detected.
43. The system of any of Examples 40 to 42, wherein the quality metric is based at least in part on any one or combination of the following: an apparent size of the object, an apparent brightness of the object, or a degree of contrast between the object and its surroundings.
44. The system of any of Examples 12 to 43, wherein the system is further configured to determine a quality metric of the one or more features based at least in part on a velocity of the one or more features.
45. The system of Example 44, wherein the quality metric is based at least in part on a velocity of the one or more features.
46. The system of Example 44, wherein system further comprises an inward camera configured to track a gaze of a user's eye, and wherein the quality metric is based at least in part on a determination that a user has directed its gaze at the object.
47. The system of Example 44, wherein the quality metric is based at least in part on an apparent change in character of the object.
48. The system of any of Examples 1 to 47, further comprising a depth sensor.
49. The system of Example 48, wherein determining the property of relative motion of the head mounted display and the one or more features in the environment comprises receiving a signal from the depth sensor.
50. The system of any of Examples 1 to 49, further comprising a proximity sensor.
51. The system of Example 50, wherein determining the property of relative motion of the head mounted display and the one or more features in the environment comprises receiving a signal from the proximity sensor.
52. The system of any of Examples 12 to 51, wherein the system is further configured to predict a trend in location of the one or more features within a field of view of the camera.
53. The system of Example 52, wherein predicting the trend of the location of the one or more features within the field of view of the camera comprises receiving a signal from at least one of an inertial sensor or a depth sensor.
54. The system of any of Examples 52 to 53, wherein the system is further configured to determine a search region of an image obtained by the camera.
55. The system of Example 54, wherein determining the search region of the image obtained by the camera comprises setting a search region size that increases with the angular velocity.
56. The system of any of Examples 52 to 55, wherein predicting the trend of the location of the one or more features within the field of view of the camera comprises determining, based at least in part on the frame rate, a search region of an image obtained by the camera.
57. The system of Example 56, wherein determining, based at least in part on the frame rate, the search region of the image obtained by the camera comprises setting a search region size that increases with a decrease in the frame rate.
58. The system of any of Examples 1 to 57, comprising a plurality of cameras.
59. The system of Example 58, wherein each of the plurality of cameras is configured to detect nonidentical portions of the environment.
60. The system of any of Examples 58 to 59, wherein the hardware processor is in communication with the plurality of cameras and is configured to execute the computer executable instructions in order to determine a frame rate of a second camera of the plurality of cameras based on image data received from the camera.
61. The system of Example 60, wherein the image data comprises a direction of movement of a feature of the environment.
62. The system of any of Examples 60 to 61, wherein the image data comprises a speed of a feature of the environment.
63. The system of any of Examples 60 to 62, wherein determining a frame rate of the second camera of the plurality of cameras based on image data received from the camera comprises predicting a trend of a feature in the image received from the camera being detected by image received by the second camera.
64. The system of Example 63, wherein predicting the trend of the location of the one or more features within the field of view of the camera comprises determining, based at least in part on whether the one or more features has been captured by at least one of the plurality of cameras, a search region of an image obtained by the camera.
65. The system of Example 64, wherein determining, based at least in part on whether the one or more features has been captured by at least one of the plurality of cameras, the search region of the image obtained by the camera comprises setting, in response to a determination that the one or more features has not been captured by at least one of the plurality of cameras, a search region size that is larger than a search region size that would have been set in response to a determination that the one or more features had been captured by at least one of the plurality of cameras.
66. The system of any of Examples 60 to 65, wherein the hardware processor is further configured to execute the computer executable instructions in order to adjust the frame rate of the second camera of the plurality of cameras based on the image received from the camera.
67. The system of Example 66, wherein adjusting the frame rate of the second camera of the plurality of cameras based on the image received from the camera comprises increasing the frame rate of the second camera of the plurality of cameras.
68. The system of Example 66, wherein adjusting the frame rate of the second camera of the plurality of cameras based on the image received from the camera comprises decreasing the frame rate of the second camera of the plurality of cameras.
69. The system of Example 68, wherein adjusting the frame rate of the second camera of the plurality of cameras based on the image received from the camera is based at least in part on a frequency of electrical current within the head mounted system.
70. The system of any of Examples 60 to 69, wherein the camera is configured to detect a first portion of the environment and the second camera is configured to detect a second portion of the environment, the first portion of the environment overlapping at least partially with the second portion of the environment.
71. The system of any of Examples 1 to 70, wherein determining the property of relative motion of the head mounted display and the one or more features in the environment comprises determining the property of relative motion of the head mounted display.
72. A head mounted display system configured to project light to an eye of a user to display augmented reality image content in a vision field of said user and to image at least a portion of an environment in front of the user wearing the head mounted display system, said head-mounted display system comprising:
73. The system of Example 72, wherein the first camera is on the left and the second camera is on the right, and in response to a rotation of the head-mounted display to the left, the first rate is set to be higher than the second frame rate.
74. The system of any of Examples 72 to 73, wherein, the first camera is on the left and the second camera is on the right, and in response to a rotation of the head-mounted display to the right, the second frame rate higher than the first frame rate.
75. The system of any of Examples 72 to 74, further comprising:
76. The system of Example 75, wherein the hardware processor is further configured to execute the computer executable instructions in order to:
77. The system of any of Examples 72 to 76, wherein each of the first and second cameras is configured to detect nonidentical portions of the environment.
78. The system of any of Examples 72 to 77, wherein the hardware processor is in communication with the plurality of cameras and is configured to execute the computer executable instructions in order to determine a frame rate of a second camera based on image received from the first camera.
79. The system of Example 78, wherein the image comprises a direction of a feature of the environment.
80. The system of any of Examples 78 to 79, wherein the image comprises a speed of a feature of the environment.
81. The system of any of Examples 78 to 80, wherein determining a frame rate of the second camera based on image received from the first camera comprises predicting a trend of a feature in the image received from the first camera being detected by image received by the second camera.
82. The system of any of Examples 78 to 81, wherein the hardware processor is further configured to execute the computer executable instructions in order to adjust the frame rate of the second camera based on the image received from the first camera.
83. The system of Example 82, wherein adjusting the frame rate of the second camera based on the image received from the first camera comprises increasing the frame rate of the second camera.
84. The system of Example 82, wherein adjusting the frame rate of the second camera based on the image received from the first camera comprises decreasing the frame rate of the second camera.
85. The system of any of Examples 78 to 84, wherein adjusting the frame rate of the second camera based on the image received from the first camera is based at least in part on a frequency of electrical current within the head mounted system.
86. The system of any of Examples 78 to 85, wherein the first camera is configured to detect a first portion of the environment and the second camera is configured to detect a second portion of the environment, the first portion of the environment overlapping at least partially with the second portion of the environment.
87. The system of any of Examples 78 to 86, wherein determining the property of relative motion of the head mounted display and the one or more features in the environment comprises determining the property of relative motion of the head mounted display.
88. The system of any of Examples 1 to 87, wherein setting the frame rate of the camera comprises setting a frame rate different from a frequency of electrical current in the head mounted display or a integer multiple thereof.
89. The system of any of Examples 17 to 88, wherein the hardware processor is further configured to execute the computer executable instructions in order to change the frame rate in response to a determination that the condition has been met.
90. The system of any of Examples 21 to 89, wherein each the property of motion and the second property of motion comprises corresponding different measurements of a common type of property of motion.
91. The system of any of Examples 31 to 90, wherein each the property of motion and the third property of motion comprises corresponding different measurements of a common type of property of motion.
92. The system of Example 54 to 91, wherein determining the search region of the image obtained by the camera is based at least in part on an angular velocity.
93. The system of any of Examples 76 to 92, wherein the second property of relative motion comprises a second measurement in time.
94. A head mounted display system configured to project light to an eye of a user to display augmented reality image content in a vision field of said user and to image at least a portion of an environment in front of the user wearing the head mounted display system, said head-mounted display system comprising:
95. The system of Example 94, wherein setting the second frame of the camera comprises determining a property of a feature of one or more features in the environment.
96. The system of Example 95, wherein setting the second frame rate of camera is based at least in part on the property of the feature.
97. A head mounted display system configured to project light to an eye of a user to display augmented reality image content in a vision field of said user and to image at least a portion of an environment in front of the user wearing the head mounted display system, said head-mounted display system comprising:
98. The system of Example 97, wherein determining the search region within the field of view of the camera comprises determining a property of relative motion between the head-mounted display and the one or more features in the environment.
99. The system of Example 98, wherein the property of relative motion comprises at least one of the following: a velocity, an acceleration, a time.
100. The system of any of Examples 98 to 99, wherein the system is configured to set a size of the search region directly proportional to the property of relative motion.
101. The system of any of Examples 97 to 99, wherein determining the search region within the field of view of the camera comprises determining a frame rate of the camera.
102. The system of Example 100, wherein the system is configured to set a size of the search region inversely proportional to the frame rate.
103. The system of any of Examples 97 to 102, wherein the system further comprises a second camera.
104. The system of Example 103, wherein determining the search region within the field of view of the camera is based at least in part on an image received by the second camera.
105. The system of Example 103, wherein determining the search region within the field of view of the camera is based at least in part on a field of view of the second camera.
106. The system of any of Examples 104 to 105, wherein determining the search region within the field of view of the camera is based at least in part on a relative direction of rotation of the head mounted device to the one or more features.
107. The system of any of Examples 54 to 71, wherein determining the search region of the image obtained by the camera comprises setting a search region size that is directly proportional with the angular velocity.
108. The system of Example 56 to 71 or 107, wherein determining the search region of the image obtained by the camera comprises setting a search region size that is inversely proportional with the frame rate.
109. The system of Example 97 to 108, wherein the search region is smaller than the field of view of the camera.
110. The system of Example 97 to 109, wherein determining a search region within a field of view of the camera comprises changing the search region.
111. The system of Example 97 to 110, wherein determining a search region within a field of view of the camera comprises changing a size of the search region.
112. The system of Example 97 to 111, wherein determining a search region within a field of view of the camera comprises changing a position of the search region.
113. The system of any of Examples 94 to 96, wherein the system is further configured to determine a quality metric of at least one of the one or more features of the environment.
114. The system of Example 113, wherein the quality metric is based on a determination of a feature count for a number of features in the field of view of the camera or region thereof.
115. The system of any of Examples 113 to 114, wherein the quality metric is based at least in part on a number of frames in which at least one of the one or more features is detected.
116. The system of any of Examples 113 to 115, wherein the quality metric is based at least in part on any one or combination of the following: an apparent size of the object, an apparent brightness of the object, or a degree of contrast between the object and its surroundings.
117. The system of any of Examples 113 to 116, wherein the system is further configured to determine a quality metric of the one or more features based at least in part on a velocity of the one or more features.
118. The system of any of Examples 113 to 117, wherein the quality metric is based at least in part on a velocity of the one or more features.
119. The system of any of Examples 113 to 118, wherein system further comprises an inward camera configured to track a gaze of a user's eye, and wherein the quality metric is based at least in part on a determination that a user has directed its gaze at the object.
120. The system of any of Examples 113 to 119, wherein the quality metric is based at least in part on an apparent change in character of the object.
121. The system of any of Examples 1 to 71 or 75 to 93, wherein determining a property of relative motion between the head-mounted display and one or more features in the environment comprises determining that the property of relative motion does not exceed a threshold.
122. The system of any of Examples 1 to 71 or 75 to 93 or 121, wherein setting the frame rate of the camera comprises modifying the frame rate of the camera.
123. The system of any of Examples 1 to 71 or 75 to 93 or 121 to 122, wherein setting the frame rate of the camera comprises reducing the frame rate of the camera.
124. The system of any of Examples 72 to 93, wherein the system is configured to modify a frame rate of at least one of the first and second cameras.
125. The system of any of Examples 72 to 93 or 124 to 125, wherein the system is configured to reduce a frame rate of at least one of the first and second cameras.
126. The system of any of Examples 94 to 96, wherein setting the second frame rate of the camera different from the first frame rate comprises reducing a frame rate of the camera.
127. The system of any of Examples 101 to 120, wherein determining the frame rate of the camera comprises modifying the frame rate of the camera.
128. The system of any of Examples 101 to 120 or 127, wherein determining the frame rate of the camera comprises reducing the frame rate of the camera.
129. The system of any of the Examples above, wherein the system is configured to reduce the frame rate of the camera as a result of decreased relative movement of the head mounted display with respect to the environment that is detected by the system.
130. The system of any of the Examples above, wherein the system is configured to reduce the frame rate of the camera as a result of decreased movement of the head mounted display that is detected by the system.
131. The system of any of the Examples above, wherein the system is configured to reduce the frame rate of the camera as a result of decreased movement of objects in the environment detected by the system.
132. The system of any of the Examples above, wherein the system is configured to reduce the frame rate of the camera as a result of limited relative movement of the head mounted display with respect to the environment that is detected by the system.
133. The system of any of the Examples above, wherein the system is configured to reduce the frame rate of the camera as a result of limited movement of the head mounted display that is detected by the system.
134. The system of any of the Examples above, wherein the system is configured to reduce the frame rate of the camera as a result of limited movement of objects in the environment detected by the system.
135. The system of any of the Examples above, wherein the system is configured to increase the frame rate of the camera as a result of increased relative movement of the head mounted display with respect to the environment that is detected by the system.
136. The system of any of the Examples above, wherein the system is configured to increase the frame rate of the camera as a result of increased movement of the head mounted display that is detected by the system.
137. The system of any of the Examples above, wherein the system is configured to increase the frame rate of the camera as a result of increased movement of objects in the environment detected by the system.
1. A head mounted display system configured to project light to an eye of a user to display augmented reality image content in a vision field of said user and to image at least a portion of an environment in front of the user wearing the head mounted display system, said head-mounted display system comprising:
2. The system of Example 1, wherein the property of motion comprises an angular acceleration.
3. The system of Example 1 or 2, wherein the property of motion comprises a linear acceleration.
4. The system of any of Examples 1 to 3, wherein the property of motion comprises a motion property of the head-mounted display.
5. The system of any of Examples 1 to 4, wherein the property of motion comprises a motion property of the one or more features in the environment.
6. The system of any of Examples 1 to 5, wherein said camera comprises a detector array and imaging optics.
7. The system of any of Examples 1 to 6, wherein setting the frame rate of the camera is based at least in part on a frequency of electrical current within the head mounted system.
8. The system of any of Examples 1 to 7, wherein setting the frame rate of the camera is based at least in part on a determination that the head mounted display is being worn.
9. The system of any of Examples 1 to 8, wherein the property of relative motion comprises an angular velocity.
10. The system of any of Examples 1 to 9, wherein the property of relative motion comprises a linear velocity.
11. The system of any of Examples 1 to 10, wherein determining the property of relative motion of the head mounted display and the one or more features in the environment comprises determining that the property of relative motion exceeds a threshold.
12. The system of any of Examples 1 to 11, wherein determining the property of relative motion of the head mounted display and the one or more features in the environment comprises detecting, using the camera, one or more features of the environment.
13. The system of Example 12, wherein the one or more features of the environment comprises at least one of an edge or a corner of an object in the environment.
14. The system of any of Examples 12 to 13, wherein detecting, using the camera, one or more features of the environment comprises using at least one of a Kalman filter, a Sobol algorithm, or a Harris algorithm.
15. The system of any of Examples 1 to 14, wherein the frame rate is between about 20 fps and 45 fps.
16. The system of any of Examples 1 to 14, wherein the frame rate is between about 45 fps and 75 fps.
17. The system of any of Examples 1 to 16, wherein the processing electronics are configured to cause the camera to obtain images at the frame rate until a condition is met.
18. The system of Example 17, wherein the condition comprises a length of time.
19. The system of Example 18, wherein the length of time comprises a length of time after a determination that the property of relative motion has changed.
20. The system of any of Examples 18 to 19, wherein the condition comprises a determination of a higher value of the property of relative motion by the hardware processor, the higher value being greater than a value of the property of relative motion.
21. The system of any of Examples 1 to 20, wherein the processing electronics are configured to:
22. The system of Example 21, wherein the second property of relative motion comprises an angular velocity or angular acceleration.
23. The system of any of Examples 21 to 22, wherein the second property of relative motion comprises a linear velocity or linear acceleration.
24. The system of any of Examples 23 to 24, wherein determining the second property of relative motion of the head mounted display and the one or more features in the environment comprises determining that the second property of relative motion exceeds a minimum threshold.
25. The system of any of Examples 21 to 24, wherein determining the second property of relative motion of the head mounted display and the one or more features in the environment comprises determining that the second property of relative motion is below a maximum threshold.
26. The system of any of Examples 21 to 25, wherein determining the second property of relative motion of the head mounted display and the one or more features in the environment comprises detecting, using the camera, one or more features of the environment.
27. The system of any of Examples 21 to 26, wherein the second frame rate is greater than the frame rate.
28. The system of any of Examples 21 to 27, wherein the second frame rate is lower than the frame rate.
29. The system of any of Examples 21 to 28, wherein the processing electronics are configured to cause the camera to continue obtaining images at the second frame rate until a second condition is met.
30. The system of Example 29, wherein the second condition comprises a length of time.
31. The system of Example 30, wherein the length of time of the second condition comprises a length of time after a determination that the second property of relative motion has changed.
32. The system of any of Examples 29 to 31, wherein the second condition comprises a determination of a second higher value of the second property of relative motion by the hardware processor, the second higher value being greater than a value of the second property of relative motion.
33. The system of any of Examples 1 to 32, wherein the processing electronics are configured to:
34. The system of Example 1, wherein the third frame rate is greater than the first frame rate and the second frame rate.
35. The system of any of Examples 1 to 34, further comprising an inertial sensor.
36. The system of any of Examples 1 to 35, wherein determining the property of relative motion of the head mounted display and the one or more features in the environment comprises receiving a signal from the inertial sensor.
37. The system of any of Examples 1 to 36, wherein the property of relative motion comprises an angular velocity less than about 80 degrees per second.
38. The system of any of Examples 21 to 37, wherein the second property of relative motion comprises an angular velocity between about 80 degrees per second and 180 degrees per second.
39. The system of any of Examples 33 to 38, wherein the third property of relative motion comprises an angular velocity greater than about 180 degrees per second.
40. The system of any of Examples 12 to 39, wherein the system is further configured to determine a quality metric of at least one of the one or more features of the environment.
41. The system of Example 40, wherein the quality metric is based on a determination of a feature count for a number of features in the field of view of the camera or region thereof.
42. The system of any of Examples 40 to 41, wherein the quality metric is based at least in part on a number of frames in which at least one of the one or more features is detected.
43. The system of any of Examples 40 to 42, wherein the quality metric is based at least in part on any one or combination of the following: an apparent size of the object, an apparent brightness of the object, or a degree of contrast between the object and its surroundings.
44. The system of any of Examples 12 to 43, wherein the system is further configured to determine a quality metric of the one or more features based at least in part on a velocity of the one or more features.
45. The system of Example 44, wherein the quality metric is based at least in part on a velocity of the one or more features.
46. The system of Example 44, wherein system further comprises an inward camera configured to track a gaze of a user's eye, and wherein the quality metric is based at least in part on a determination that a user has directed its gaze at the object.
47. The system of Example 44, wherein the quality metric is based at least in part on an apparent change in character of the object.
48. The system of any of Examples 1 to 47, further comprising a depth sensor.
49. The system of Example 48, wherein determining the property of relative motion of the head mounted display and the one or more features in the environment comprises receiving a signal from the depth sensor.
50. The system of any of Examples 1 to 49, further comprising a proximity sensor.
51. The system of Example 50, wherein determining the property of relative motion of the head mounted display and the one or more features in the environment comprises receiving a signal from the proximity sensor.
52. The system of any of Examples 12 to 51, wherein the system is further configured to predict a trend in location of the one or more features within a field of view of the camera.
53. The system of Example 52, wherein predicting the trend of the location of the one or more features within the field of view of the camera comprises receiving a signal from at least one of an inertial sensor or a depth sensor.
54. The system of any of Examples 52 to 53, wherein the system is further configured to determine a search region of an image obtained by the camera.
55. The system of Example 54, wherein determining the search region of the image obtained by the camera comprises setting a search region size that increases with the angular velocity.
56. The system of any of Examples 52 to 55, wherein predicting the trend of the location of the one or more features within the field of view of the camera comprises determining, based at least in part on the frame rate, a search region of an image obtained by the camera.
57. The system of Example 56, wherein determining, based at least in part on the frame rate, the search region of the image obtained by the camera comprises setting a search region size that increases with a decrease in the frame rate.
58. The system of any of Examples 1 to 57, comprising a plurality of cameras.
59. The system of Example 58, wherein each of the plurality of cameras is configured to detect nonidentical portions of the environment.
60. The system of any of Examples 58 to 59, wherein the processing electronics are in communication with the plurality of cameras and are configured to determine a frame rate of a second camera of the plurality of cameras based on image data received from the camera.
61. The system of Example 60, wherein the image data comprises a direction of movement of a feature of the environment.
62. The system of any of Examples 60 to 61, wherein the image data comprises a speed of a feature of the environment.
63. The system of any of Examples 60 to 62, wherein determining a frame rate of the second camera of the plurality of cameras based on image data received from the camera comprises predicting a trend of a feature in the image received from the camera being detected by image received by the second camera.
64. The system of Example 63, wherein predicting the trend of the location of the one or more features within the field of view of the camera comprises determining, based at least in part on whether the one or more features has been captured by at least one of the plurality of cameras, a search region of an image obtained by the camera.
65. The system of Example 64, wherein determining, based at least in part on whether the one or more features has been captured by at least one of the plurality of cameras, the search region of the image obtained by the camera comprises setting, in response to a determination that the one or more features has not been captured by at least one of the plurality of cameras, a search region size that is larger than a search region size that would have been set in response to a determination that the one or more features had been captured by at least one of the plurality of cameras.
66. The system of any of Examples 60 to 65, wherein the processing electronics are configured to adjust the frame rate of the second camera of the plurality of cameras based on the image received from the camera.
67. The system of Example 66, wherein adjusting the frame rate of the second camera of the plurality of cameras based on the image received from the camera comprises increasing the frame rate of the second camera of the plurality of cameras.
68. The system of Example 66, wherein adjusting the frame rate of the second camera of the plurality of cameras based on the image received from the camera comprises decreasing the frame rate of the second camera of the plurality of cameras.
69. The system of Example 68, wherein adjusting the frame rate of the second camera of the plurality of cameras based on the image received from the camera is based at least in part on a frequency of electrical current within the head mounted system.
70. The system of any of Examples 60 to 69, wherein the camera is configured to detect a first portion of the environment and the second camera is configured to detect a second portion of the environment, the first portion of the environment overlapping at least partially with the second portion of the environment.
71. The system of any of Examples 1 to 70, wherein determining the property of relative motion of the head mounted display and the one or more features in the environment comprises determining the property of relative motion of the head mounted display.
72. A head mounted display system configured to project light to an eye of a user to display augmented reality image content in a vision field of said user and to image at least a portion of an environment in front of the user wearing the head mounted display system, said head-mounted display system comprising:
73. The system of Example 72, wherein the first camera is on the left and the second camera is on the right, and in response to a rotation of the head-mounted display to the left, the first rate is set to be higher than the second frame rate.
74. The system of any of Examples 72 to 73, wherein, the first camera is on the left and the second camera is on the right, and in response to a rotation of the head-mounted display to the right, the second frame rate higher than the first frame rate.
75. The system of any of Examples 72 to 74, further comprising processing electronics configured to:
76. The system of Example 75, wherein the processing electronics are configured to:
77. The system of any of Examples 72 to 76, wherein each of the first and second cameras is configured to detect nonidentical portions of the environment.
78. The system of any of Examples 72 to 77, wherein the processing electronics are in communication with the plurality of cameras and are configured to determine a frame rate of a second camera based on image received from the first camera.
79. The system of Example 78, wherein the image comprises a direction of a feature of the environment.
80. The system of any of Examples 78 to 79, wherein the image comprises a speed of a feature of the environment.
81. The system of any of Examples 78 to 80, wherein determining a frame rate of the second camera based on image received from the first camera comprises predicting a trend of a feature in the image received from the first camera being detected by image received by the second camera.
82. The system of any of Examples 78 to 81, wherein the processing electronics are configured to adjust the frame rate of the second camera based on the image received from the first camera.
83. The system of Example 82, wherein adjusting the frame rate of the second camera based on the image received from the first camera comprises increasing the frame rate of the second camera.
84. The system of Example 82, wherein adjusting the frame rate of the second camera based on the image received from the first camera comprises decreasing the frame rate of the second camera.
85. The system of any of Examples 78 to 84, wherein adjusting the frame rate of the second camera based on the image received from the first camera is based at least in part on a frequency of electrical current within the head mounted system.
86. The system of any of Examples 78 to 85, wherein the first camera is configured to detect a first portion of the environment and the second camera is configured to detect a second portion of the environment, the first portion of the environment overlapping at least partially with the second portion of the environment.
87. The system of any of Examples 78 to 86, wherein determining the property of relative motion of the head mounted display and the one or more features in the environment comprises determining the property of relative motion of the head mounted display.
88. The system of any of Examples 1 to 87, wherein setting the frame rate of the camera comprises setting a frame rate different from a frequency of electrical current in the head mounted display or a integer multiple thereof.
89. The system of any of Examples 17 to 88, wherein the processing electronics are configured to change the frame rate in response to a determination that the condition has been met.
90. The system of any of Examples 21 to 89, wherein each the property of motion and the second property of motion comprises corresponding different measurements of a common type of property of motion.
91. The system of any of Examples 31 to 90, wherein each the property of motion and the third property of motion comprises corresponding different measurements of a common type of property of motion.
92. The system of Example 54 to 91, wherein determining the search region of the image obtained by the camera is based at least in part on an angular velocity.
93. The system of any of Examples 76 to 92, wherein the second property of relative motion comprises a second measurement in time.
94. A head mounted display system configured to project light to an eye of a user to display augmented reality image content in a vision field of said user and to image at least a portion of an environment in front of the user wearing the head mounted display system, said head-mounted display system comprising:
95. The system of Example 94, wherein setting the second frame of the camera comprises determining a property of a feature of one or more features in the environment.
96. The system of Example 95, wherein setting the second frame rate of camera is based at least in part on the property of the feature.
97. A head mounted display system configured to project light to an eye of a user to display augmented reality image content in a vision field of said user and to image at least a portion of an environment in front of the user wearing the head mounted display system, said head-mounted display system comprising:
98. The system of Example 97, wherein determining the search region within the field of view of the camera comprises determining a property of relative motion between the head-mounted display and the one or more features in the environment.
99. The system of Example 98, wherein the property of relative motion comprises at least one of the following: a velocity, an acceleration, a time.
100. The system of any of Examples 98 to 99, wherein the system is configured to set a size of the search region directly proportional to the property of relative motion.
101. The system of any of Examples 97 to 99, wherein determining the search region within the field of view of the camera comprises determining a frame rate of the camera.
102. The system of Example 100, wherein the system is configured to set a size of the search region inversely proportional to the frame rate.
103. The system of any of Examples 97 to 102, wherein the system further comprises a second camera.
104. The system of Example 103, wherein determining the search region within the field of view of the camera is based at least in part on an image received by the second camera.
105. The system of Example 103, wherein determining the search region within the field of view of the camera is based at least in part on a field of view of the second camera.
106. The system of any of Examples 104 to 105, wherein determining the search region within the field of view of the camera is based at least in part on a relative direction of rotation of the head mounted device to the one or more features.
107. The system of any of Examples 54 to 71, wherein determining the search region of the image obtained by the camera comprises setting a search region size that is directly proportional with the angular velocity.
108. The system of Example 56 to 71 or 107, wherein determining the search region of the image obtained by the camera comprises setting a search region size that is inversely proportional with the frame rate.
109. The system of Example 97 to 108, wherein the search region is smaller than the field of view of the camera.
110. The system of Example 97 to 109, wherein determining a search region within a field of view of the camera comprises changing the search region.
111. The system of Example 97 to 110, wherein determining a search region within a field of view of the camera comprises changing a size of the search region.
112. The system of Example 97 to 111, wherein determining a search region within a field of view of the camera comprises changing a position of the search region.
113. The system of any of Examples 94 to 96, wherein the system is further configured to determine a quality metric of at least one of the one or more features of the environment.
114. The system of Example 113, wherein the quality metric is based on a determination of a feature count for a number of features in the field of view of the camera or region thereof.
115. The system of any of Examples 113 to 114, wherein the quality metric is based at least in part on a number of frames in which at least one of the one or more features is detected.
116. The system of any of Examples 113 to 115, wherein the quality metric is based at least in part on any one or combination of the following: an apparent size of the object, an apparent brightness of the object, or a degree of contrast between the object and its surroundings.
117. The system of any of Examples 113 to 116, wherein the system is further configured to determine a quality metric of the one or more features based at least in part on a velocity of the one or more features.
118. The system of any of Examples 113 to 117, wherein the quality metric is based at least in part on a velocity of the one or more features.
119. The system of any of Examples 113 to 118, wherein system further comprises an inward camera configured to track a gaze of a user's eye, and wherein the quality metric is based at least in part on a determination that a user has directed its gaze at the object.
120. The system of any of Examples 113 to 119, wherein the quality metric is based at least in part on an apparent change in character of the object.
121. The system of any of Examples 1 to 71 or 75 to 93, wherein determining a property of relative motion between the head-mounted display and one or more features in the environment comprises determining that the property of relative motion does not exceed a threshold.
122. The system of any of Examples 1 to 71 or 75 to 93 or 121, wherein setting the frame rate of the camera comprises modifying the frame rate of the camera.
123. The system of any of Examples 1 to 71 or 75 to 93 or 121 to 122, wherein setting the frame rate of the camera comprises reducing the frame rate of the camera.
124. The system of any of Examples 72 to 93, wherein the system is configured to modify a frame rate of at least one of the first and second cameras.
125. The system of any of Examples 72 to 93 or 124 to 125, wherein the system is configured to reduce a frame rate of at least one of the first and second cameras.
126. The system of any of Examples 94 to 96, wherein setting the second frame rate of the camera different from the first frame rate comprises reducing a frame rate of the camera.
127. The system of any of Examples 101 to 120, wherein determining the frame rate of the camera comprises modifying the frame rate of the camera.
128. The system of any of Examples 101 to 120 or 127, wherein determining the frame rate of the camera comprises reducing the frame rate of the camera.
129. The system of any of the Examples above, wherein the system is configured to reduce the frame rate of the camera as a result of decreased relative movement of the head mounted display with respect to the environment that is detected by the system.
130. The system of any of the Examples above, wherein the system is configured to reduce the frame rate of the camera as a result of decreased movement of the head mounted display that is detected by the system.
131. The system of any of the Examples above, wherein the system is configured to reduce the frame rate of the camera as a result of decreased movement of objects in the environment detected by the system.
132. The system of any of the Examples above, wherein the system is configured to reduce the frame rate of the camera as a result of limited relative movement of the head mounted display with respect to the environment that is detected by the system.
133. The system of any of the Examples above, wherein the system is configured to reduce the frame rate of the camera as a result of limited movement of the head mounted display that is detected by the system.
134. The system of any of the Examples above, wherein the system is configured to reduce the frame rate of the camera as a result of limited movement of objects in the environment detected by the system.
135. The system of any of the Examples above, wherein the system is configured to increase the frame rate of the camera as a result of increased relative movement of the head mounted display with respect to the environment that is detected by the system.
136. The system of any of the Examples above, wherein the system is configured to increase the frame rate of the camera as a result of increased movement of the head mounted display that is detected by the system.
137. The system of any of the Examples above, wherein the system is configured to increase the frame rate of the camera as a result of increased movement of objects in the environment detected by the system.
1. A head mounted display system configured to project light to an eye of a user to display augmented reality image content in a vision field of said user and to image at least a portion of an environment in front of the user wearing the head mounted display system, said head-mounted display system comprising:
2. The system of Example 1, further comprising a motion sensor in communication with said electronics for performing measurements for the assessment of relative motion.
3. The system of Example 2, wherein said motion sensor comprises an inertial measurement unit (IMU).
4. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear acceleration.
5. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear velocity.
6. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear acceleration of said head mounted display.
7. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear velocity of said head mounted display.
8. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear acceleration of said one or more features in said environment.
9. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear velocity of said one or more features in said environment.
10. The system of any of the Examples above, wherein said assessment of relative motion comprises determining that motion or expected motion of the head mounted display exceeds a threshold.
11. The system of any of the Examples above, wherein said assessment of relative motion comprises determining that motion or expected motion of said one or more features in said environment exceeds a threshold.
12. The system of any of the above Examples, wherein the second frame rate is lower than the first frame rate such that the frame rate of the camera is reduced based on said assessment of relative motion.
13. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination whether the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or whether one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display.
14. The system of any of the above Examples, wherein the second frame rate is lower than the first frame rate.
15. The system of any of the Examples above, wherein the first frame rate is between about 30 fps and 60 fps.
16. The system of any of the Examples above, wherein the second frame rate is between about 5 fps and 20 fps.
17. The system of any of the above Examples, wherein the system is configured, based on said assessment of relative motion between said head mounted display and one or more features in said environment to set a second frame rate of the camera.
18. The system of any of the above Examples, wherein the system is configured, based on said assessment of relative motion between said head mounted display and one or more features in said environment to reduce the amount of processing on the frames obtained by the camera.
19. The system of any of the above Examples, wherein the system is configured, based on said assessment of relative motion between said head mounted display and one or more features in said environment to process data from fewer frames obtained by the camera.
20. The system of any of the above Examples, wherein the system further comprises a motion sensor that receives information about a motion of the system at a sampling rate.
21. The system of Example 20, wherein the system is configured, based on said determination of whether the head mounted display has moved, is moving or is expected to move and to reduce said frame rate of said camera but maintain the sampling rate of the motion sensor.
22. The system of Example 20, wherein the sampling rate of the motion sensor is faster than the frame rate of the camera after reduction of said frame rate of said camera.
23. The system of any of the Examples 20 to 22, wherein the motion sensor comprises an inertial sensor or accelerometer.
24. The system of any of the Examples above, wherein said assessment of relative motion between said head mounted display and one or more features in said environment comprises determining that one or more features in the environment moved, is moving or is expected to move with respect to the head mounted display.
25. The system of any of the Examples above, wherein said assessment of relative motion between said head mounted display and one or more features in said environment comprises detecting, using a camera, one or more features of the environment.
26. The system of Example 25, wherein the one or more features of the environment comprises at least one of an edge or a corner of an object in the environment.
27. The system of Example 25 or 26, wherein detecting, using the camera, one or more features of the environment comprises using at least one of a Kalman filter, a Sobol algorithm, or a Harris algorithm.
28. The system of any of the Examples above, comprising at least one second camera.
29. The system of Example 28, wherein said camera and said second camera are configured to detect non-identical portions of the environment.
30. The system of Examples 28 or 29, wherein the camera is configured to detect a first portion of the environment and the second camera is configured to detect a second portion of the environment, the first portion of the environment overlapping partially with the second portion of the environment.
31. The system of any of Examples 28 to 30, wherein said camera and said second camera are disposed on a left side of said frame corresponding to the left eye of the user.
32. The system of any of Examples 28 to 30, wherein said camera and said second camera are disposed on a right side of said frame corresponding to the right eye of the user.
33. The system of any of Examples 28 to 32, further comprising decreasing the frame rate of the second camera of the plurality of cameras and/or the amount of processing on the frames obtained by the second camera based on said assessment of relative motion between said head mounted display and one or more features in said environment.
34. The system of any of Examples 28 to 33, wherein said camera is more temporal than said second camera.
35. The system of any of Examples 28 to 33, wherein said camera is more nasal than said second camera.
36. The system of Examples 34 or 35, wherein said the frame rate of said camera is set to be lower than the frame rate of the second camera based on said assessment of relative motion between said head mounted display and one or more features in said environment.
37. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display.
38. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of the head mounted display does not exceed a threshold.
39. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of said one or more features in said environment does not exceed a threshold.
40. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of the head mounted display does not exceed a threshold for a duration of time.
41. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of said one or more features in said environment does not exceed a threshold for a duration of time.
42. The system of any of above Examples, wherein reducing the amount of processing of the frames from the camera comprises reducing the number of frame captured by the camera that are processed.
43. The system of any of above Examples, wherein reducing the amount of processing of the frames from the camera comprises processing a first portion of the frames captured by the camera less than a second portion of frames captured by the camera.
1. A head mounted display system configured to project light to an eye of a user to display augmented reality image content in a vision field of said user and to image at least a portion of an environment in front of the user wearing the head mounted display system, said head-mounted display system comprising:
2. The system of Example 1, further comprising a motion sensor in communication with said electronics for performing measurements for the assessment of relative motion.
3. The system of Example 2, wherein said motion sensor comprises an inertial measurement unit (IMU).
4. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear acceleration.
5. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear velocity.
6. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear acceleration of said head mounted display.
7. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear velocity of said head mounted display.
8. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear acceleration of said one or more features in said environment.
9. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear velocity of said one or more features in said environment.
10. The system of any of the Examples above, wherein said assessment of relative motion comprises determining that motion or expected motion of the head mounted display exceeds a threshold.
11. The system of any of the Examples above, wherein said assessment of relative motion comprises determining that motion or expected motion of said one or more features in said environment exceeds a threshold.
12. The system of any of the above Examples, wherein the second frame rate is lower than the first frame rate such that the frame rate of the camera is reduced based on said assessment of relative motion.
13. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination whether the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or whether one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display.
14. The system of any of the above Examples, wherein the second frame rate is lower than the first frame rate.
15. The system of any of the Examples above, wherein the first frame rate is between about 30 fps and 60 fps.
16. The system of any of the Examples above, wherein the second frame rate is between about 5 fps and 20 fps.
17. The system of any of the above Examples, wherein the system is configured, based on said assessment of relative motion between said head mounted display and one or more features in said environment to set a second frame rate of the camera.
18. The system of any of the above Examples, wherein the system is configured, based on said assessment of relative motion between said head mounted display and one or more features in said environment to reduce the amount of processing on the frames obtained by the camera.
19. The system of any of the above Examples, wherein the system is configured, based on said assessment of relative motion between said head mounted display and one or more features in said environment to process data from fewer frames obtained by the camera.
20. The system of any of the above Examples, wherein the system further comprises a motion sensor that receives information about a motion of the system at a sampling rate.
21. The system of Example 20, wherein the system is configured, based on said determination of whether the head mounted display has moved, is moving or is expected to move and to reduce said frame rate of said camera but maintain the sampling rate of the motion sensor.
22. The system of Example 20, wherein the sampling rate of the motion sensor is faster than the frame rate of the camera after reduction of said frame rate of said camera.
23. The system of any of the Examples 20 to 22, wherein the motion sensor comprises an inertial sensor or accelerometer.
24. The system of any of the Examples above, wherein said assessment of relative motion between said head mounted display and one or more features in said environment comprises determining that one or more features in the environment moved, is moving or is expected to move with respect to the head mounted display.
25. The system of any of the Examples above, wherein said assessment of relative motion between said head mounted display and one or more features in said environment comprises detecting, using a camera, one or more features of the environment.
26. The system of Example 25, wherein the one or more features of the environment comprises at least one of an edge or a corner of an object in the environment.
27. The system of Example 25 or 26, wherein detecting, using the camera, one or more features of the environment comprises using at least one of a Kalman filter, a Sobol algorithm, or a Harris algorithm.
28. The system of any of the Examples above, comprising at least one second camera.
29. The system of Example 28, wherein said camera and said second camera are configured to detect non-identical portions of the environment.
30. The system of Examples 28 or 29, wherein the camera is configured to detect a first portion of the environment and the second camera is configured to detect a second portion of the environment, the first portion of the environment overlapping partially with the second portion of the environment.
31. The system of any of Examples 28 to 30, wherein said camera and said second camera are disposed on a left side of said frame corresponding to the left eye of the user.
32. The system of any of Examples 28 to 30, wherein said camera and said second camera are disposed on a right side of said frame corresponding to the right eye of the user.
33. The system of any of Examples 28 to 32, further comprising decreasing the frame rate of the second camera of the plurality of cameras and/or the amount of processing on the frames obtained by the second camera based on said assessment of relative motion between said head mounted display and one or more features in said environment.
34. The system of any of Examples 28 to 33, wherein said camera is more temporal than said second camera.
35. The system of any of Examples 28 to 33, wherein said camera is more nasal than said second camera.
36. The system of Examples 34 or 35, wherein said the frame rate of said camera is set to be lower than the frame rate of the second camera based on said assessment of relative motion between said head mounted display and one or more features in said environment.
37. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display.
38. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of the head mounted display does not exceed a threshold.
39. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of said one or more features in said environment does not exceed a threshold.
40. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of the head mounted display does not exceed a threshold for a duration of time.
41. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of said one or more features in said environment does not exceed a threshold for a duration of time.
42. The system of any of above Examples, wherein reducing the amount of processing of the frames from the camera comprises reducing the number of frame captured by the camera that are processed.
43. The system of any of above Examples, wherein reducing the amount of processing of the frames from the camera comprises processing a first portion of the frames captured by the camera less than a second portion of frames captured by the camera.
1. A head mounted display system configured to project light to an eye of a user to display augmented reality image content in a vision field of said user and to image at least a portion of an environment in front of the user wearing the head mounted display system, said head-mounted display system comprising:
2. The system of Example 1, further comprising a motion sensor in communication with said electronics for performing measurements for the assessment of relative motion.
3. The system of Example 2, wherein said motion sensor comprises an inertial measurement unit (IMU).
4. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear acceleration.
5. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear velocity.
6. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear acceleration of said head mounted display.
7. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear velocity of said head mounted display.
8. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear acceleration of said one or more features in said environment.
9. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear velocity of said one or more features in said environment.
10. The system of any of the Examples above, wherein said assessment of relative motion comprises determining that motion or expected motion of the head mounted display exceeds a threshold.
11. The system of any of the Examples above, wherein said assessment of relative motion comprises determining that motion or expected motion of said one or more features in said environment exceeds a threshold.
12. The system of any of the above Examples, wherein the second frame rate is lower than the first frame rate such that the frame rate of the camera is reduced based on said assessment of relative motion.
13. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) whether the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or whether said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location within the viewing zone.
14. The system of Examples 13, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based further on a determination (iii) that said one or more virtual image content locations in the environment does not include a location within the near field of regard.
15. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is not reduced if said one or more virtual image content locations in the environment includes a location in a near field of regard region.
16. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) whether the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or whether said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location in a far field of region that is (i) beyond the viewing zone and (ii) beyond a near field of regard region.
17. The system of Examples 16, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based further on a determination (iii) that said one or more virtual image content locations in the environment does not include a location within the near field of regard.
18. The system of any of the above Examples, wherein the viewing zone comprises a field of view of the camera.
19. The system of Example 18, wherein the field of view of the camera is about 45° and 135°.
20. The system of any of Examples 18 or 19, wherein the viewing zone corresponds to the field of view of the camera and comparing said one or more virtual image content locations with the viewing zone comprises determining whether said one or more virtual image content locations in the environment is within the field of view of the camera.
21. The system of any of the above Examples, wherein the second frame rate is lower than the first frame rate.
22. The system of any of the Examples above, wherein the first frame rate is between about 30 fps and 60 fps.
23. The system of any of the Examples above, wherein the second frame rate is between about 5 fps and 20 fps.
24. The system of any of the above Examples, wherein the system is configured, based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of said one or more virtual image content locations with said viewing zone, to set a second frame rate of the camera.
25. The system of any of the above Examples, wherein the system is configured, based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of said one or more virtual image content locations with said viewing zone, to reduce the amount of processing on the frames obtained by the camera.
26. The system of any of the above Examples, wherein the system is configured, based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of said one or more virtual image content location with said viewing zone, to process data from fewer frames obtained by the camera.
27. The system of any of the above Examples, wherein the system further comprises a motion sensor that receives information about a motion of the system at a sampling rate.
28. The system of Example 27, wherein the system is configured, based on (i) said determination of whether the head mounted display has moved, is moving or is expected to move and (ii) on said comparison of said one or more virtual image content locations with said viewing zone, to reduce said frame rate of said camera but maintain the sampling rate of the motion sensor.
29. The system of Example 27, wherein the sampling rate of the motion sensor is faster than the frame rate of the camera after reduction of said frame rate of said camera.
30. The system of any of the Examples 27 to 29, wherein the motion sensor comprises an inertial sensor or accelerometer.
31. The system of any of the Examples above, wherein said assessment of relative motion between said head mounted display and one or more features in said environment comprises determining that one or more features in the environment moved, is moving or is expected to move with respect to the head mounted display.
32. The system of any of the Examples above, wherein said assessment of relative motion between said head mounted display and one or more features in said environment comprises detecting, using a camera, one or more features of the environment.
33. The system of Example 32, wherein the one or more features of the environment comprises at least one of an edge or a corner of an object in the environment.
34. The system of Example 32 or 33, wherein detecting, using the camera, one or more features of the environment comprises using at least one of a Kalman filter, a Sobol algorithm, or a Harris algorithm.
35. The system of any of the Examples above, comprising at least one second camera.
36. The system of Example 35, wherein said camera and said second camera are configured to detect non-identical portions of the environment.
37. The system of Examples 35 or 36, wherein the camera is configured to detect a first portion of the environment and the second camera is configured to detect a second portion of the environment, the first portion of the environment overlapping partially with the second portion of the environment.
38. The system of any of Examples 35 to 37, wherein said camera and said second camera are disposed on a left side of said frame corresponding to the left eye of the user.
39. The system of any of Examples 35 to 37, wherein said camera and said second camera are disposed on a right side of said frame corresponding to the right eye of the user.
40. The system of any of Examples 35 to 39, further comprising decreasing the frame rate of the second camera of the plurality of cameras and/or the amount of processing on the frames obtained by the second camera based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of the virtual image content location with said viewing zone.
41. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) whether the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or whether said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location within the viewing zone.
42. The system of Examples 41, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based further on a determination (iii) that said one or more virtual image content locations in the environment does not include within the near field of regard.
43. The system of any of the above Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is not reduced if said one or more virtual image content locations in the environment includes a location in a near field of regard region.
44. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) whether the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or whether said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that one or more virtual image content locations in the environment includes a location in a far field of region that is (i) beyond the viewing zone and (ii) beyond a near field of regard region.
45. The system of Examples 44, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based further on a determination (iii) that said one or more virtual image content locations in the environment does not include a location within the near field of regard.
46. The system of any of Examples 35 to 39, wherein said camera is more temporal than said second camera.
47. The system of any of Examples 35 to 39, wherein said camera is more nasal than said second camera.
48. The system of Examples 46 or 47, wherein said the frame rate of said camera is set to be lower than the frame rate of the second camera based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of one or more virtual image content locations in the environment with the viewing zone.
49. The system of any of Examples 46 or 48, wherein said the amount of processing on said camera is set to be lower than the amount of processing on the frames obtained by the second camera based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of said one or more virtual image content locations in the environment with the viewing zone.
50. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) whether the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or whether said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment does not include a location outside the viewing zone.
51. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) whether the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or whether said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment does not include a location outside the viewing zone.
52. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination of limited movement or expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or expected movement of one or more features in the environment relative to the head mounted display.
53. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of the head mounted display does not exceed a threshold.
54. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of said one or more features in said environment does not exceed a threshold.
55. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of the head mounted display does not exceed a threshold for a duration of time.
56. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of said one or more features in said environment does not exceed a threshold for a duration of time.
57. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location within the viewing zone.
58. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location in a far field of region that is (a) beyond the viewing zone and (b) beyond a near field of regard region.
59. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location within the viewing zone.
60. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that one or more virtual image content locations in the environment includes a location in a far field of region that is (a) beyond the viewing zone and (b) beyond a near field of regard region.
61. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment does not include a location outside the viewing zone.
62. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment does not include a location outside the viewing zone.
63. The system of any of above Examples, wherein reducing the amount of processing of the frames from the camera comprises reducing the number of frames captured by the camera that are processed.
64. The system of any of above Examples, wherein reducing the amount of processing of the frames from the camera comprises processing a first portion of the frames captured by the camera less than a second portion of frames captured by the camera.
1. A head mounted display system configured to project light to an eye of a user to display augmented reality image content in a vision field of said user and to image at least a portion of an environment in front of the user wearing the head mounted display system, said head-mounted display system comprising:
2. The system of Example 1, further comprising a motion sensor in communication with said processing electronics for performing measurements for the assessment of relative motion.
3. The system of Example 2, wherein said motion sensor comprises an inertial measurement unit (IMU).
4. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear acceleration.
5. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear velocity.
6. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear acceleration of said head mounted display.
7. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear velocity of said head mounted display.
8. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear acceleration of said one or more features in said environment.
9. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear velocity of said one or more features in said environment.
10. The system of any of the Examples above, wherein said assessment of relative motion comprises determining that motion or expected motion of the head mounted display exceeds a threshold.
11. The system of any of the Examples above, wherein said assessment of relative motion comprises determining that motion or expected motion of said one or more features in said environment exceeds a threshold.
12. The system of any of the above Examples, wherein the second frame rate is lower than the first frame rate such that the frame rate of the camera is reduced based on said assessment of relative motion.
13. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) whether the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or whether said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location within the viewing zone.
14. The system of Examples 13, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based further on a determination (iii) that said one or more virtual image content locations in the environment does not include a location within the near field of regard.
15. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is not reduced if said one or more virtual image content locations in the environment includes a location in a near field of regard region.
16. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) whether the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or whether said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location in a far field of region that is (i) beyond the viewing zone and (ii) beyond a near field of regard region.
17. The system of Examples 16, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based further on a determination (iii) that said one or more virtual image content locations in the environment does not include a location within the near field of regard.
18. The system of any of the above Examples, wherein the viewing zone comprises a field of view of the camera.
19. The system of Example 18, wherein the field of view of the camera is about 45° and 135°.
20. The system of any of Examples 18 or 19, wherein the viewing zone corresponds to the field of view of the camera and comparing said one or more virtual image content locations with the viewing zone comprises determining whether said one or more virtual image content locations in the environment is within the field of view of the camera.
21. The system of any of the above Examples, wherein the second frame rate is lower than the first frame rate.
22. The system of any of the Examples above, wherein the first frame rate is between about 30 fps and 60 fps.
23. The system of any of the Examples above, wherein the second frame rate is between about 5 fps and 20 fps.
24. The system of any of the above Examples, wherein the system is configured, based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of said one or more virtual image content locations with said viewing zone, to set a second frame rate of the camera.
25. The system of any of the above Examples, wherein the system is configured, based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of said one or more virtual image content locations with said viewing zone, to reduce the amount of processing on the frames obtained by the camera.
26. The system of any of the above Examples, wherein the system is configured, based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of said one or more virtual image content location with said viewing zone, to process data from fewer frames obtained by the camera.
27. The system of any of the above Examples, wherein the system further comprises a motion sensor that receives information about a motion of the system at a sampling rate.
28. The system of Example 27, wherein the system is configured, based on (i) said determination of whether the head mounted display has moved, is moving or is expected to move and (ii) on said comparison of said one or more virtual image content locations with said viewing zone, to reduce said frame rate of said camera but maintain the sampling rate of the motion sensor.
29. The system of Example 27, wherein the sampling rate of the motion sensor is faster than the frame rate of the camera after reduction of said frame rate of said camera.
30. The system of any of the Examples 27 to 29, wherein the motion sensor comprises an inertial sensor or accelerometer.
31. The system of any of the Examples above, wherein said assessment of relative motion between said head mounted display and one or more features in said environment comprises determining that one or more features in the environment moved, is moving or is expected to move with respect to the head mounted display.
32. The system of any of the Examples above, wherein said assessment of relative motion between said head mounted display and one or more features in said environment comprises detecting, using a camera, one or more features of the environment.
33. The system of Example 32, wherein the one or more features of the environment comprises at least one of an edge or a corner of an object in the environment.
34. The system of Example 32 or 33, wherein detecting, using the camera, one or more features of the environment comprises using at least one of a Kalman filter, a Sobol algorithm, or a Harris algorithm.
35. The system of any of the Examples above, comprising at least one second camera.
36. The system of Example 35, wherein said camera and said second camera are configured to detect non-identical portions of the environment.
37. The system of Examples 35 or 36, wherein the camera is configured to detect a first portion of the environment and the second camera is configured to detect a second portion of the environment, the first portion of the environment overlapping partially with the second portion of the environment.
38. The system of any of Examples 35 to 37, wherein said camera and said second camera are disposed on a left side of said frame corresponding to the left eye of the user.
39. The system of any of Examples 35 to 37, wherein said camera and said second camera are disposed on a right side of said frame corresponding to the right eye of the user.
40. The system of any of Examples 35 to 39, further comprising decreasing the frame rate of the second camera of the plurality of cameras and/or the amount of processing on the frames obtained by the second camera based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of the virtual image content location with said viewing zone.
41. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) whether the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or whether said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location within the viewing zone.
42. The system of Examples 41, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based further on a determination (iii) that said one or more virtual image content locations in the environment does not include within the near field of regard.
43. The system of any of the above Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is not reduced if said one or more virtual image content locations in the environment includes a location in a near field of regard region.
44. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) whether the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or whether said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that one or more virtual image content locations in the environment includes a location in a far field of region that is (i) beyond the viewing zone and (ii) beyond a near field of regard region.
45. The system of Examples 44, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based further on a determination (iii) that said one or more virtual image content locations in the environment does not include a location within the near field of regard.
46. The system of any of Examples 35 to 39, wherein said camera is more temporal than said second camera.
47. The system of any of Examples 35 to 39, wherein said camera is more nasal than said second camera.
48. The system of Examples 46 or 47, wherein said the frame rate of said camera is set to be lower than the frame rate of the second camera based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of one or more virtual image content locations in the environment with the viewing zone.
49. The system of any of Examples 46 or 48, wherein said the amount of processing on said camera is set to be lower than the amount of processing on the frames obtained by the second camera based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of said one or more virtual image content locations in the environment with the viewing zone.
50. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) whether the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or whether said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment does not include a location outside the viewing zone.
51. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) whether the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or whether said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment does not include a location outside the viewing zone.
52. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination of limited movement or expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or expected movement of one or more features in the environment relative to the head mounted display.
53. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of the head mounted display does not exceed a threshold.
54. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of said one or more features in said environment does not exceed a threshold.
55. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of the head mounted display does not exceed a threshold for a duration of time.
56. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of said one or more features in said environment does not exceed a threshold for a duration of time.
57. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location within the viewing zone.
58. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location in a far field of region that is (a) beyond the viewing zone and (b) beyond a near field of regard region.
59. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location within the viewing zone.
60. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that one or more virtual image content locations in the environment includes a location in a far field of region that is (a) beyond the viewing zone and (b) beyond a near field of regard region.
61. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment does not include a location outside the viewing zone.
62. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment does not include a location outside the viewing zone.
63. The system of any of above Examples, wherein reducing the amount of processing of the frames from the camera comprises reducing the number of frames captured by the camera that are processed.
64. The system of any of above Examples, wherein reducing the amount of processing of the frames from the camera comprises processing a first portion of the frames captured by the camera less than a second portion of frames captured by the camera.
1. A head mounted display system comprising:
2. The system of Example 1, further comprising a motion sensor in communication with said processing electronics, wherein the motion sensor is configured to perform measurements for the assessment of relative motion.
3. The system of Example 2, wherein said motion sensor comprises an inertial measurement unit (IMU).
4. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear acceleration.
5. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear velocity.
6. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear acceleration of said head mounted display.
7. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear velocity of said head mounted display.
8. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear acceleration of said one or more features in said environment.
9. The system of any of the Examples above, wherein said assessment of relative motion is based at least in part on measurement of an angular or linear velocity of said one or more features in said environment.
10. The system of any of the Examples above, wherein said assessment of relative motion comprises determining that motion or expected motion of the head mounted display exceeds a threshold.
11. The system of any of the Examples above, wherein said assessment of relative motion comprises determining that motion or expected motion of said one or more features in said environment exceeds a threshold.
12. The system of any of the above Examples, wherein the second frame rate is lower than the first frame rate such that the camera is configured to operate with a reduced frame rate based on said assessment of relative motion.
13. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) that the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or that said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location within the viewing zone.
14. The system of Example 13, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based further on a determination (iii) that said one or more virtual image content locations in the environment does not include a location within the near field of regard.
15. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is not reduced if said one or more virtual image content locations in the environment includes a location in a near field of regard region.
16. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) that the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or that said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location in a far field of regard that is (i) beyond the viewing zone and (ii) beyond a near field of regard region.
17. The system of Example 16, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based further on a determination (iii) that said one or more virtual image content locations in the environment does not include a location within the near field of regard.
18. The system of any of the above Examples, wherein the viewing zone comprises a field of view of the camera.
19. The system of Example 18, wherein the field of view of the camera is about 45° and 135°.
20. The system of any of Examples 18 or 19, wherein the viewing zone corresponds to the field of view of the camera and comparing said one or more virtual image content locations with the viewing zone comprises determining whether said one or more virtual image content locations in the environment is within the field of view of the camera.
21. The system of any of the above Examples, wherein the second frame rate is lower than the first frame rate.
22. The system of any of the Examples above, wherein the first frame rate is between about 30 fps and 60 fps.
23. The system of any of the Examples above, wherein the second frame rate is between about 5 fps and 20 fps.
24. The system of any of the above Examples, wherein the system is configured, based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of said one or more virtual image content locations with said viewing zone, to set a second frame rate of the camera.
25. The system of any of the above Examples, wherein the system is configured, based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of said one or more virtual image content locations with said viewing zone, to reduce the amount of processing on the frames obtained by the camera.
26. The system of any of the above Examples, wherein the system is configured, based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of said one or more virtual image content locations with said viewing zone, to process data from fewer frames obtained by the camera.
27. The system of any of the above Examples, wherein the system further comprises a motion sensor that receives information about a motion of the system at a sampling rate.
28. The system of Example 27, wherein the system is configured, based on (i) said determination of whether the head mounted display has moved, is moving or is expected to move and (ii) on said comparison of said one or more virtual image content locations with said viewing zone, to reduce said frame rate of said camera but maintain the sampling rate of the motion sensor.
29. The system of Example 27, wherein the sampling rate of the motion sensor is faster than the frame rate of the camera after reduction of said frame rate of said camera.
30. The system of any of the Examples 27 to 29, wherein the motion sensor comprises an inertial sensor or accelerometer.
31. The system of any of the Examples above, wherein said assessment of relative motion between said head mounted display and one or more features in said environment comprises determining that one or more features in the environment moved, is moving or is expected to move with respect to the head mounted display.
32. The system of any of the Examples above, wherein said assessment of relative motion between said head mounted display and one or more features in said environment comprises detecting, using a camera, one or more features of the environment.
33. The system of Example 32, wherein the one or more features of the environment comprises at least one of an edge or a corner of an object in the environment.
34. The system of Example 32 or 33, wherein detecting, using the camera, one or more features of the environment comprises using at least one of a Kalman filter, a Sobol algorithm, or a Harris algorithm.
35. The system of any of the Examples above, comprising at least one second camera.
36. The system of Example 35, wherein said camera and said second camera are configured to detect non-identical portions of the environment.
37. The system of Examples 35 or 36, wherein the camera is configured to detect a first portion of the environment and the second camera is configured to detect a second portion of the environment, the first portion of the environment overlapping partially with the second portion of the environment.
38. The system of any of Examples 35 to 37, wherein said camera and said second camera are disposed on a left side of said frame corresponding to the left eye of the user.
39. The system of any of Examples 35 to 37, wherein said camera and said second camera are disposed on a right side of said frame corresponding to the right eye of the user.
40. The system of any of Examples 35 to 39, further comprising decreasing the frame rate of the second camera of the plurality of cameras and/or the amount of processing on the frames obtained by the second camera based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of the virtual image content location with said viewing zone.
41. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) that the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or that said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location within the viewing zone.
42. The system of Examples 41, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based further on a determination (iii) that said one or more virtual image content locations in the environment does not include within the near field of regard.
43. The system of any of the above Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is not reduced if said one or more virtual image content locations in the environment includes a location in a near field of regard region.
44. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) that the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or that said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that one or more virtual image content locations in the environment includes a location in a far field of region that is (i) beyond the viewing zone and (ii) beyond a near field of regard region.
45. The system of Examples 44, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based further on a determination (iii) that said one or more virtual image content locations in the environment does not include a location within the near field of regard.
46. The system of any of Examples 35 to 39, wherein said camera is more temporal than said second camera.
47. The system of any of Examples 35 to 39, wherein said camera is more nasal than said second camera.
48. The system of Examples 46 or 47, wherein said the frame rate of said camera is set to be lower than the frame rate of the second camera based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of one or more virtual image content locations in the environment with the viewing zone.
49. The system of any of Examples 46 or 48, wherein said the amount of processing on said camera is set to be lower than the amount of processing on the frames obtained by the second camera based on (i) said assessment of relative motion between said head mounted display and one or more features in said environment and (ii) on said comparison of said one or more virtual image content locations in the environment with the viewing zone.
50. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) that the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or that said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment does not include a location outside the viewing zone.
51. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) that the head mounted display has moved, is moving, or is expected to move with respect to one or more features in the environment or that said one or more features in the environment have moved, are moving or are expected to move relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment does not include a location outside the viewing zone.
52. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination of limited movement or expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or expected movement of one or more features in the environment relative to the head mounted display.
53. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of the head mounted display does not exceed a threshold.
54. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of said one or more features in said environment does not exceed a threshold.
55. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of the head mounted display does not exceed a threshold for a duration of time.
56. The system of any of the Examples above, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination that motion or expected motion of said one or more features in said environment does not exceed a threshold for a duration of time.
57. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location within the viewing zone.
58. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location in a far field of region that is (a) beyond the viewing zone and (b) beyond a near field of regard region.
59. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment includes a location within the viewing zone.
60. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that one or more virtual image content locations in the environment includes a location in a far field of region that is (a) beyond the viewing zone and (b) beyond a near field of regard region.
61. The system of any of the above Examples, wherein the frame rate of the camera and/or the amount of processing on the frames obtained by the camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment does not include a location outside the viewing zone.
62. The system of any of the Examples 35 to 40, wherein the frame rate of the second camera and/or the amount of processing on the frames obtained by the second camera is reduced based on a determination (i) of limited movement or limited expected movement of the head mounted display with respect to one or more features in the environment or of limited movement or limited expected movement of one or more features in the environment relative to the head mounted display and (ii) that said one or more virtual image content locations in the environment does not include a location outside the viewing zone.
63. The system of any of above Examples, wherein reducing the amount of processing of the frames from the camera comprises reducing the number of frames captured by the camera that are processed.
64. The system of any of above Examples, wherein reducing the amount of processing of the frames from the camera comprises processing a first portion of the frames captured by the camera less than a second portion of frames captured by the camera.
In any of the examples described herein, the frame rate of the camera can be reduced without turning off the camera and/or the head mounted display and/or reducing the frame rate to zero. Similarly, the amount of processing on the frames obtained by the camera that are processed can be reduced without turning off the camera and/or the processing electronics performing the processing of the frames and/or without turning off the head mounted display. Likewise, the number of frames captured by the camera that are processed can be reduced without turning off the camera and/or the processing electronics performing the processing of the frames and/or without turning off the head mounted display.
A wide range of variations of, for example, the systems, devices, components, methods and process described herein are possible. For example, components can be added to, removed from or rearranged in the systems and/or devices described herein. Additionally, steps can be added to, removed from or rearranged in the methods and processes described herein. The systems, methods and devices disclosed herein each have several innovative aspects, no single one of which is solely responsible for the desirable attributes disclosed herein. A variety of example systems and methods are provided below.
Each of the processes, methods, and algorithms described herein and/or depicted in the attached figures may be embodied in, and fully or partially automated by, code modules executed by one or more physical computing systems, hardware computer processors, application-specific circuitry, and/or electronic hardware configured to execute specific and particular computer instructions. For example, computing systems can include general purpose computers (e.g., servers) programmed with specific computer instructions or special purpose computers, special purpose circuitry, and so forth. A code module may be compiled and linked into an executable program, installed in a dynamic link library, or may be written in an interpreted programming language. In some implementations, particular operations and methods may be performed by circuitry that is specific to a given function.
Further, certain implementations of the functionality of the present disclosure are sufficiently mathematically, computationally, or technically complex that application-specific hardware or one or more physical computing devices (utilizing appropriate specialized executable instructions) may be necessary to perform the functionality, for example, due to the volume or complexity of the calculations involved or to provide results substantially in real-time. For example, animations or video may include many frames, with each frame having millions of pixels, and specifically programmed computer hardware is necessary to process the video data to provide a desired image processing task or application in a commercially reasonable amount of time.
Code modules or any type of data may be stored on any type of non-transitory computer-readable medium, such as physical computer storage including hard drives, solid state memory, random access memory (RAM), read only memory (ROM), optical disc, volatile or non-volatile storage, combinations of the same and/or the like. The methods and modules (or data) may also be transmitted as generated data signals (e.g., as part of a carrier wave or other analog or digital propagated signal) on a variety of computer-readable transmission mediums, including wireless-based and wired/cable-based mediums, and may take a variety of forms (e.g., as part of a single or multiplexed analog signal, or as multiple discrete digital packets or frames). The results of the disclosed processes or process steps may be stored, persistently or otherwise, in any type of non-transitory, tangible computer storage or may be communicated via a computer-readable transmission medium.
Any processes, blocks, states, steps, or functionalities in flow diagrams described herein and/or depicted in the attached figures should be understood as potentially representing code modules, segments, or portions of code which include one or more executable instructions for implementing specific functions (e.g., logical or arithmetical) or steps in the process. The various processes, blocks, states, steps, or functionalities can be combined, rearranged, added to, deleted from, modified, or otherwise changed from the illustrative examples provided herein. In some embodiments, additional or different computing systems or code modules may perform some or all of the functionalities described herein. The methods and processes described herein are also not limited to any particular sequence, and the blocks, steps, or states relating thereto can be performed in other sequences that are appropriate, for example, in serial, in parallel, or in some other manner. Tasks or events may be added to or removed from the disclosed example embodiments. Moreover, the separation of various system components in the implementations described herein is for illustrative purposes and should not be understood as requiring such separation in all implementations. It should be understood that the described program components, methods, and systems can generally be integrated together in a single computer product or packaged into multiple computer products. Many implementation variations are possible.
The processes, methods, and systems may be implemented in a network (or distributed) computing environment. Network environments include enterprise-wide computer networks, intranets, local area networks (LAN), wide area networks (WAN), personal area networks (PAN), cloud computing networks, crowd-sourced computing networks, the Internet, and the World Wide Web. The network may be a wired or a wireless network or any other type of communication network.
The systems and methods of the disclosure each have several innovative aspects, no single one of which is solely responsible or required for the desirable attributes disclosed herein. The various features and processes described above may be used independently of one another, or may be combined in various ways. All possible combinations and subcombinations are intended to fall within the scope of this disclosure. Various modifications to the implementations described in this disclosure may be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other implementations without departing from the spirit or scope of this disclosure. Thus, the claims are not intended to be limited to the implementations shown herein, but are to be accorded the widest scope consistent with this disclosure, the principles and the novel features disclosed herein.
Certain features that are described in this specification in the context of separate implementations also can be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation also can be implemented in multiple implementations separately or in any suitable subcombination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination. No single feature or group of features is necessary or indispensable to each and every embodiment.
Conditional language used herein, such as, among others, “can,” “could,” “might,” “may,” “e.g.,” and the like, unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements and/or steps. Thus, such conditional language is not generally intended to imply that features, elements and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without author input or prompting, whether these features, elements and/or steps are included or are to be performed in any particular embodiment. The terms “comprising,” “including,” “having,” and the like are synonymous and are used inclusively, in an open-ended fashion, and do not exclude additional elements, features, acts, operations, and so forth. Also, the term “or” is used in its inclusive sense (and not in its exclusive sense) so that when used, for example, to connect a list of elements, the term “or” means one, some, or all of the elements in the list. In addition, the articles “a,” “an,” and “the” as used in this application and the appended claims are to be construed to mean “one or more” or “at least one” unless specified otherwise.
As used herein, a phrase referring to “at least one of” a list of items refers to any combination of those items, including single members. As an example, “at least one of: A, B, or C” is intended to cover: A, B, C, A and B, A and C, B and C, and A, B, and C. Conjunctive language such as the phrase “at least one of X, Y and Z,” unless specifically stated otherwise, is otherwise understood with the context as used in general to convey that an item, term, etc. may be at least one of X, Y or Z. Thus, such conjunctive language is not generally intended to imply that certain embodiments require at least one of X, at least one of Y and at least one of Z to each be present.
Similarly, while operations may be depicted in the drawings in a particular order, it is to be recognized that such operations need not be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. Further, the drawings may schematically depict one more example processes in the form of a flowchart. However, other operations that are not depicted can be incorporated in the example methods and processes that are schematically illustrated. For example, one or more additional operations can be performed before, after, simultaneously, or between any of the illustrated operations. Additionally, the operations may be rearranged or reordered in other implementations. In certain circumstances, multitasking and parallel processing may be advantageous. Moreover, the separation of various system components in the implementations described above should not be understood as requiring such separation in all implementations, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products. Additionally, other implementations are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results.
This application claims the benefit of priority under 35 U.S.C. § 119(e) to U.S. Provisional Application No. 62/686,644, filed on Jun. 18, 2018, entitled “AUGMENTED REALITY DISPLAY WITH FRAME MODULATION FUNCTIONALITY,” and 62/702,817, filed on Jun. 24, 2018, entitled “AUGMENTED REALITY DISPLAY WITH FRAME MODULATION FUNCTIONALITY,” each of which is hereby incorporated by reference herein in its entirety. The disclosures of U.S. Provisional Application No. 62/404,419, filed on Oct. 5, 2016, entitled “PERIOCULAR TEST FOR GLASSES REMOVAL”, U.S. Provisional Application No. 62/404,493, filed on Oct. 5, 2016, entitled “PERIOCULAR TEST FOR GLASSES FIT”, U.S. Provisional Application No. 62/416,341, filed on Nov. 2, 2016, entitled “DYNAMIC DISPLAY CORRECTION BASED ON DISPLAY POSITION TRACKING”, U.S. application Ser. No. 15/717,747, filed on Sep. 27, 2017, entitled “PERIOCULAR TEST FOR MIXED REALITY CALIBRATION”, and U.S. application Ser. No. 15/448,402, filed on Mar. 2, 2017, entitled “CURRENT DRAIN REDUCTION IN AR/VR DISPLAY SYSTEMS are also each hereby incorporated by reference herein in their entireties. Additionally, the disclosures of U.S. application Ser. No. 14/555,585 filed on Nov. 27, 2014, now U.S. Pat. No. 9,791,700 issued on Oct. 17, 2017; U.S. application Ser. No. 14/690,401 filed on Apr. 18, 2015, now U.S. Pat. No. 10,262,462 issued on Apr. 16, 2019; U.S. application Ser. No. 14/212,961 filed on Mar. 14, 2014, now U.S. Pat. No. 9,417,452 issued on Aug. 16, 2016; and U.S. application Ser. No. 14/331,218 filed on Jul. 14, 2014, now U.S. Pat. No. 9,671,566 issued on Jun. 6, 2017 are each hereby incorporated by reference herein in their entireties as well.
| Number | Date | Country | |
|---|---|---|---|
| 62686644 | Jun 2018 | US | |
| 62702817 | Jul 2018 | US |
