Granted Patent B2

US 12,555,332 · App. 18/355,600 · Granted Feb 17, 2026

Inventors: Fadel Adib (Cambridge, MA); Tara Boroushaki (Cambridge, MA); Laura Noelle Dodds (Cambridge, MA); Aline Eid (Ann Arbor, MI); Maisy Lilian Lam (Cambridge, MA)

Assignee: Massachusetts Institute of Technology

G06T19/006G01S5/02G01S13/06G02B27/017G01S13/90

Abstract

Claims (47)

1 . A mobile augmented reality (AR) system comprising:

a receiver configured to receive radio frequency (RF) signals from one or more items located within an environment;

a tracking module configured to generate tracking data responsive to a location of the system within the environment over time;

a display device; and

one or more processors configured to:

determine a location of at least one of the one or more items within the environment using the received RF signals and the tracking data, the determining of the location including:

performing reverse synthetic aperture radar (R-SAR) on the RF signals to track locations of a radio frequency identification (RFID) tag of the at least one of the one or more items as it is being picked up,

determining an identifier of the at least one of the one or more items based at least in part on the RFID tag locations, and

verifying the at least one of the one or more items is a correct item to be picked up based on comparing the determined item identifier to an expected item identifier; and

generate a visual representation of the location of the at least one of the one or more items for display on the display device.

2 . The mobile AR system of claim 1 wherein the display device is a visor of an AR headset and the receiver is integrated into the AR headset.

3 . The mobile AR system of claim 2 wherein the tracking module is external to the AR headset.

4 . The mobile AR system of claim 2 wherein the receiver comprises a conformal antenna located about the visor of the AR headset.

5 . The mobile AR system of claim 1 wherein the display device is a screen of a mobile handheld device further comprising the receiver, tracking module, and one or more processors.

6 . The mobile AR system of claim 1 wherein the receiver forms a part of a transceiver further configured to transmit RF signals within the environment, and wherein the received RF signals are in response to the transmitted RF signals.

7 . The mobile AR system of claim 6 wherein the received RF signals are received from one or more RFID tags collocated with respective ones of the one or more items.

8 . The mobile AR system of claim 6 wherein the one or more processors are configured to determine the location of the at least one of the one or more items using time of flight (ToF) between the transmitted RF signals and the received RF signals.

9 . The mobile AR system of claim 1 wherein the one or more processors are configured to determine the location of the at least one of the one or more items using synthetic aperture radar (SAR) with the tracking data used to obtain SAR antenna locations.

10 . The mobile AR system of claim 1 wherein the visual representation of the location of the at least one of the one or more items comprises at least one of:

an arrow indicating the location of the at least one of the one or more items; or

a holographic sphere or ellipse indicating the location of the at least one of the one or more items.

11 . A conformal antenna for use with an augmented reality (AR) headset, the conformal antenna comprising:

one or more conductive surfaces configured to conform about a front surface of the AR headset and to receive radio frequency (RF) signals from one or more items located within an environment,

wherein the AR headset is configured to:

perform reverse synthetic aperture radar (R-SAR) on the RF signals to track locations of a radio frequency identification (RFID) tag of an item being picked up from the one or more items located within an environment;

determine an identifier of the item being picked up based at least in part on the RFID tag locations; and

verify the item being picked up is a correct item to be picked up based on comparing the determined item identifier to an expected item identifier.

12 . The conformal antenna of claim 11 wherein the one or more conductive surfaces are configured transmit RF signals within the environment, and wherein the received RF signals are in response to the transmitted RF signals.

13 . The conformal antenna of claim 12 wherein the received RF signals corresponds to reflections of the transmitted RF signals off the one or more items.

14 . The conformal antenna of claim 11 wherein the AR headset includes one or more sensors positioned about the front surface, wherein the one or more conductive surfaces are configured to conform about the front surface without substantially masking the one or more sensors.

15 . The conformal antenna of claim 11 wherein the one or more conductive surfaces comprises one or more tapers and one or more slots.

16 . The conformal antenna of claim 11 wherein the received RF signals comprise at least one of:

ultra-high frequency (UHF) signals;

WiFi signals;

millimeter wave signals; or

terahertz (THz) signals.

17 . A method for verifying an item being picked up, the method comprising:

receiving radio frequency (RF) signals from a plurality of items within an environment;

receiving tracking data responsive to a location of an item being picked up over time;

performing reverse synthetic aperture radar (R-SAR) on the RF signals to track locations of a radio frequency identification (RFID) tag of the item being picked up;

determining an identifier of the item being picked up using the received RF signals and the tracking data and by comparing the tracking data to the RFID tag locations; and

verifying the item is a correct item to be picked up based on comparing the determined item identifier to an expected item identifier.

18 . The method of claim 17 further comprising generating user feedback in response to the verifying of the item.

19 . The method of claim 17 wherein the item is being picked up by one of:

a human hand;

a robot gripper; or

a grabber tool.

Assignments (2)

Continuity (2)

References Cited (78)