Apparatuses, methods and systems for a sensor array adapted for vision computing
Aspects of the disclosed apparatuses, methods and systems provide a sensor array including multiple sensors configured and arranged to enable one or more augmented or virtual reality applications in computer vision system. For example, the sensor array is arranged and configured to acquire different types of sensor data that are combined and processed using computer vision processes in order to augment a user's physical environment with virtual information.
1. A sensor array optimized for an augmented or virtual reality system, the array comprising:
a plurality of sensors including:
two cameras;
and
a mechanical assembly positioning the plurality of sensors in a configuration optimized to sense information for one or more computer vision applications of the augmented or virtual reality system, wherein the mechanical assembly includes:
a first generally planar portion including two opposite ends; and
two wing portions, each wing portion extending from one of the ends of the first portion and formed of a generally planar portion angled from the ends of the first planar portion, each wing portion positioning one of the two cameras to sense features in wide compound field of view and stereoscopically sense features in an overlapping field of view,
wherein the angle formed between a plane of the first portion and a plane of each wing portion is a compound angle.
2. The sensor array of claim 1 , wherein the plurality of sensors includes a depth sensor and a color camera, and the two cameras are monochrome cameras.
3. The sensor array of claim 1 wherein the compound field of view is between 200-260 degrees as measured in a horizontal plane.
4. The sensor array of claim 1 wherein the overlapping field of view is between 60-80 degrees as measured in a horizontal plane.
5. The sensor array of claim 1 wherein the angle formed between the first portion and each wing portion in a horizontal plane is between 120-150 degrees.
6. The sensor array of claim 1 , wherein the angle formed between the first portion and each wing portion in a horizontal plane is substantially 135 degrees.
7. The sensor array of claim 2 wherein the depth sensor and the color camera are positioned by the first potion.
8. The sensor array of claim 7 , wherein a lens of the depth sensor is centered between the two ends of the first portion and a lens of the color camera is positioned generally adjacent to the depth sensor.
9. A sensor array optimized for an augmented or virtual reality system, the array comprising:
a plurality of sensors including:
two cameras; and
a mechanical assembly positioning the plurality of sensors in a configuration optimized to sense information for one or more computer vision applications of the augmented or virtual reality system, the mechanical assembly including:
a first generally planar portion including two opposite ends; and
two wing portions, each wing portion extending from one of the ends of the first portion and formed of a generally planar portion angled from the ends of the first planar portion, each wing portion positioning one of the two cameras,
wherein an angle formed between each wing portion and the first portion in a horizontal plane bisecting the first portion and the wing portion is approximately 120-150 degrees an angle formed by the intersection of the generally planar portion of each wing portion and the horizontal plane is approximately 60-70 degrees.
10. The sensor array of claim 1 further comprising an inertial measurement unit.
11. The sensor array of claim 1 further comprising a thermal sensor.
12. The sensor array of claim 1 further comprising one or more processing devices, the one or more processing devices configured to execute instructions to acquire sensor data from the plurality sensors and aggregate the sensor data for transmission to a host processing system implementing the one or more computer vision applications of the augmented or virtual reality system.
13. An augmented reality or virtual reality head mounted display (HMD) system comprising:
a display,
an optical element; and
a sensor array, the sensor array including:
a plurality of sensors including:
two cameras;
and
a mechanical assembly positioning the plurality of sensors in a configuration optimized to sense information for one or more computer vision applications of an augmented reality processing system, the mechanical assembly including:
a first generally planar portion including two opposite ends and
two wing portions, each wing portion extending from one of the ends of the first portion and formed of a generally planar portion angled from the ends of the first planar portion, each wing portion positioning one of the two cameras to sense features in wide compound field of view and stereoscopically sense features in an overlapping field of view; and
a housing adapted to be worn on a head of a user of the HMD including a plurality of openings, wherein the optical element is positioned by the housing relative to the display to reflect or project light emitted from the display to the eyes of the user, and the openings of the housing align with the plurality of sensors arranged by the mechanical assembly within the housing.
14. The HMD of claim 13 , wherein the angle formed at the junction of the first portion and each wing portion is a compound angle where any plane, intersecting a plane of the first portion and a plane of either wing portion, that is orthogonal to the plane of the first portion is non-orthogonal to the plane of either wing portion.
15. The headset HMD of claim 13 wherein an angle formed between each wing portion and the first portion in a horizontal plane bisecting the first portion and each wing portion is approximately 120-150 degrees and an angle formed at the intersection of the generally planar portion of each wing portion and the horizontal plane is approximately 60-70 degrees.
16. The HMD of claim 13 further comprising an inertial measurement unit.
17. The HMD of claim 13 further comprising a thermal sensor.
18. The HMD of claim 13 further comprising one or more processing devices, the one or more processing devices configured to execute instructions to acquire sensor data from the plurality sensors and aggregate the sensor data for transmission to a host processing system implementing one or more computer vision applications of the augmented or virtual reality system.
19. The HMD of claim 13 , wherein the compound angle is described by an angle in a horizontal plane between the first portion and each wing portion and an angle of tilt of each generally planar portion from a vertical axis orthogonal to the horizontal plane.
20. The HMD of claim 13 , wherein the plurality of sensors further includes a depth sensor and a color sensor and the two cameras are monochrome cameras.
21. The sensor array of claim 1 , wherein the compound angle is formed between a plane of the first portion and a plane of each wing portion where any plane, intersecting the plane of the first portion and the plane of either wing portion, that is orthogonal to the plane of the first portion is non-orthogonal to the plane of either wing portion.
22. The sensor array of claim 1 , the compound angle is described by an angle in a horizontal plane between the first portion and each wing portion and an angle of tilt of each generally planar portion from a vertical axis orthogonal to the horizontal plane.
23. The sensor array of claim 9 , wherein the plurality of sensors further includes a depth sensor and a color sensor and the two cameras are monochrome cameras.