Granted Patent B2

US 12,536,753 · App. 18/311,498 · Granted Jan 27, 2026

Inventors: Samuel A. Miller (Hollywood, FL); Randall E. Hand (Clinton, MS); Richmond B. Chan (Arlington Heights, IL)

Assignee: Magic Leap, Inc.

G06T19/006A63F13/56A63F13/57A63F13/577G02B27/0093G02B27/0101G02B27/017G02B27/0172G02B27/0179G06F3/005G06F3/011G06F3/012G06F3/013G06F3/014G06F3/016G06F3/017G06F3/16G06F3/167G06Q30/02G06T7/60G06T7/70G06T11/60G06T13/40G06T13/80G06T15/10G06T19/003G06V20/10G06V20/20G06V20/653G06V20/80H04S7/304G02B2027/0138G02B2027/014G02B2027/0178G02B2027/0187G06T2200/04G06T2213/08G06T2215/16G06T2219/024H04S2400/11H04S2400/15

Abstract

Claims (33)

1 . A method for displaying virtual objects in augmented reality (AR), comprising:

capturing, by at least one AR device in a plurality of locations, geometric data points pertaining to the plurality of locations;

constructing a single coherent passable geometric map of the real world comprising the captured first and second sets of geometric data points;

overlaying a topographical map onto the single coherent passable geometric map of the real world, the topological map comprising a histogram or a hash of physical features of a plurality of physical spaces associated with the plurality of locations;

storing the single larger coherent passable geometric map of the real world with the topographical graph in a database;

capturing, by another AR device, data pertaining to a physical space at a location of a user of the other AR device;

generating a histogram or a hash of physical features in the physical space at the location of the user;

localizing the user within the single larger coherent passable geometric map of the real world by comparing the captured data generated histogram or hash of the physical features in the physical space at the location of the user to the topological graph and identifying the location of the user as one of the plurality of locations based on the comparison;

providing geometric data points of the passable geometric map of the real world from the database to the other AR device, the geometric data points pertaining to a plurality of real objects at the identified location of the user; and

displaying, by the other AR device, virtual content to the user in relation to the plurality of real objects.

2 . The method of claim 1 , wherein the other AR device is a head-mounted AR device.

3 . The method of claim 1 , wherein the other AR device is a room-based sensor device.

4 . The method of claim 1 , wherein the captured geometric map points comprise images captured at the plurality of locations.

5 . The method of claim 1 , wherein the captured geometric data points correspond to sensor data.

6 . The method of claim 1 , further comprising:

extracting a set of map points from the captured geometric data points; and

using the set of map points to construct the single larger coherent passable geometric map of the real world.

7 . The method of claim 1 , wherein the captured geometric data points comprise pose tagged images corresponding to the at the plurality of locations.

8 . The method of claim 1 , wherein the single larger coherent passable geometric map of the real world is constructed based at least in part on pose information.

9 . The method of claim 1 , wherein the topological graph comprises a plurality of nodes and a plurality of connections between the nodes.

10 . The method of claim 9 , wherein each of the nodes represents a particular location in the real world.

11 . The method of claim 9 , wherein the topological graph comprises information characterizing strengths of the connections between the nodes.

12 . The method of claim 11 , wherein the strengths of the connections are based on the number of shared captured data at the plurality of locations.

13 . The method of claim 11 , wherein the strengths of the connections are based on the geographical proximity between the nodes.

14 . The method of claim 1 , wherein the at least one AR device comprises a plurality of AR devices, wherein the captured geometric data points comprises a plurality of sets of geometric data points captured by the plurality of AR devices, and wherein the topological graph is used to identify where to stitch the captured plurality of sets of—geometric data points together into the single larger coherent passable geometric map of the real world.

15 . The method of claim 1 , wherein the topological map comprises a plurality of fingerprint data sets, the method further comprising:

storing the plurality of fingerprint data sets and the captured geometric data points in the database, wherein the plurality of fingerprint data sets respectively characterize physical spaces uniquely identifying the plurality of locations; and

constructing the topological graph based at least in part on the fingerprint data sets;

comparing the captured data to the topological graph by comparing the captured data to the plurality of fingerprint data sets; and

identifying the location the user as one of the plurality of locations, wherein the fingerprint data set that uniquely identifies the identified location has less data than the geometric data points of the passable geometric map of the real world provided from the database to the other AR device.

16 . The method of claim 1 , wherein the topological graph comprises the histogram of the physical features of the plurality of physical spaces associated with the plurality of locations.

17 . The method of claim 16 , wherein the histogram is a color histogram.

18 . The method of claim 1 , wherein the topological map comprises the hash of the physical features of the plurality of physical spaces associated with the plurality of locations.

Assignments (2)

Continuity (7)

References Cited (400)

Cited By (1)

US 12,614,317