Systems, apparatuses, and methods for active alignment for video passthrough of modular sensors and head-mounted displays
An apparatus can include a sensor hub couplable to a head-mounted display (HMD), the sensor hub including sensors and light sources. The apparatus can further include a processor configured to generate, by activating the plurality of light sources, a constellation including a set of illuminated points, receive a first set of images captured by a camera of the HMD, the first set of images including a portion of the constellation and an environment near the HMD from a first perspective, receive a second set of images capturing the environment from a second perspective, identify a subset of illuminated points, determine position information of the sensor hub, and modify the second set of images based at least in part on the position information of the sensor hub to produce a modified second set of images showing the second portion of the environment modified to be from the first perspective.
1 . An apparatus, comprising:
a sensor hub couplable to a head-mounted display (HMD), the sensor hub including sensors and a plurality of light sources arranged in a predefined pattern; and
a processor operably coupled to the sensor hub and couplable to the HMD, the processor configured to:
generate, by activating the plurality of light sources, a constellation including a set of illuminated points for a predetermined period of time;
receive, during the predetermined period of time, a first set of images captured by a camera of the HMD, the first set of images including a portion of the constellation and a first portion of an environment near the HMD from a first perspective;
receive a second set of images captured by the sensors, the second set of images capturing a second portion of the environment from a second perspective;
identify a subset of illuminated points of the set of illuminated points in the first set of images;
determine position information of the sensor hub using the subset of illuminated points identified in the first set of images; and
modify the second set of images based at least in part on the position information of the sensor hub to produce a modified second set of images showing the second portion of the environment modified to be from the first perspective.
2 . The apparatus of claim 1 , wherein the subset of illuminated points includes at least three points.
3 . The apparatus of claim 1 , wherein:
each illuminated point of the set of illuminated points is configured to illuminate according to a predetermined sequence uniquely associated with that illuminated point, to collectively produce a plurality of predetermined sequences, and
the processor is configured to generate the constellation by activating the set of illuminated points according to the plurality of predetermined sequences uniquely associated therewith.
4 . The apparatus of claim 3 , wherein for each illuminated point from the set of illuminated points:
the predetermined sequence associated with that illuminated point and from the plurality of predetermined sequences defines (1) a set of durations for activating that illuminated point and (2) a set of intervals separating adjacent durations of the set of durations,
each duration of the set of durations for that predetermined sequence is greater than a minimum period of time used by that illuminated point, when activated, to reach a luminance level greater than a predetermined threshold.
5 . The apparatus of claim 4 , wherein the camera of the HMD is configured to capture the first set of images with an exposure having a duration that is greater than the minimum period of time.
6 . The apparatus of claim 3 , wherein:
the processor is configured to generate the constellation by activating each illuminated point of the set of illuminated points according to the predetermined sequence for that illuminated point and from the plurality of predetermined sequences, and
the processor is further configured to synchronize sending of trigger signals for initiating frames for capturing the first set of images with the activation of at least one illuminated point of the set of illuminated points.
7 . The apparatus of claim 3 , wherein the processor is configured to identify the subset of illuminated points by identifying the predetermined sequences associated with the subset of illuminated points and from the plurality of predetermined sequences.
8 . The apparatus of claim 1 , wherein the processor is configured to determine the position information of the sensor hub further based at least in part on motion data captured by an inertial measurement unit (IMU) included within the sensor hub.
9 . The apparatus of claim 1 , wherein the sensor hub is couplable to the HMD via a connector and not disposed on a unitary rigid structure with the HMD, such that the sensor hub is displaceable relative to the HMD based on a pliancy of the connector.
10 . The apparatus of claim 1 , wherein the processor is further configured to:
determine position information of the camera based at least in part on motion data captured by an IMU associated with the HMD, and
modify the second set of images based on the position information of the sensor hub and the position information of the camera.
11 . The apparatus of claim 1 , wherein the processor is configured to determine the position information of the sensor hub by:
determining a position of the constellation relative to a position of the camera based on locations of the subset of illuminated points in the first set of images; and
determining the position of the sensor hub relative to the position of the camera based on the position of the constellation and position information of the camera.
12 . The apparatus of claim 11 , wherein the position information of the camera is based on motion data captured by an IMU coupled to the camera.
13 . The apparatus of claim 1 , wherein the processor is configured to modify the second set of images by:
determining a transformation function that aligns the second perspective of the sensor hub with the first perspective of the camera based on the position information of the sensor hub and position information of the camera; and
using the transformation function to modify the second set of images to produce the modified second set of images.
14 . The apparatus of claim 1 , wherein the predefined pattern is a ring-like pattern.
15 . The apparatus of claim 1 , wherein the processor is further configured to generate a set of combined images from the first set of images and the modified second set of images.
16 . The apparatus of claim 15 , wherein the processor is further configured to cause a display of the HMD to display the set of combined images.
17 . A non-transitory processor-readable medium storing code representing instructions to be executed by one or more processors, the instructions comprising code to cause the one or more processors to:
generate, by activating a plurality of light sources of a sensor hub, a constellation including a set of illuminated points for a predetermined period of time, the sensor hub couplable to a head-mounted display (HMD), the plurality of light sources arranged in a predefined pattern;
receive, during the predetermined period of time, a first set of images captured by a camera of the HMD, the first set of images including a portion of the constellation and a first portion of an environment near the HMD from a first perspective;
receive a second set of images captured by sensors of the sensor hub, the second set of images capturing a second portion of the environment from a second perspective;
identify a subset of illuminated points of the set of illuminated points in the first set of images;
determine position information of the sensor hub using the subset of illuminated points identified in the first set of images; and
modify the second set of images based at least in part on the position information of the sensor hub to produce a modified second set of images showing the second portion of the environment modified to be from the first perspective.
18 . The non-transitory processor-readable medium of claim 17 , wherein:
each illuminated point of the set of illuminated points is configured to illuminate according to a predetermined sequence uniquely associated with that illuminated point, to collectively produce a plurality of predetermined sequences, and
the code to cause the one or more processors to generate the constellation includes code to cause the one or more processors to generate the constellation further by activating the set of illuminated points according to the plurality of predetermined sequences.
19 . The non-transitory processor-readable medium of claim 18 , wherein:
the code to cause the one or more processors to generate the constellation includes code to cause the one or more processors to generate the constellation further by activating each illuminated point of the set of illuminated points according to the predetermined sequence for that illuminated point, and
the instructions further comprise code to cause the one or more processors to synchronize sending of trigger signals for initiating frames for capturing the first set of images with the activation of at least one illuminated point of the set of illuminated points.
20 . An apparatus, comprising:
a sensor hub couplable to a head-mounted display (HMD), the sensor hub including sensors and a set of fiducials within a field of view of a camera of the HMD, and
a processor operably coupled to the sensor hub and couplable to the HMD, the processor configured to:
receive a first image captured by the camera, the first image including the set of fiducials and a first portion of an environment near the HMD from a first perspective;
receive a second image captured by the sensors, the second image capturing a second portion of the environment from a second perspective;
determine first position information of the sensor hub based on a location of the set of fiducials in the first image;
determine second position information of the sensor hub based on the first position information of the sensor hub and position information of the camera, the second position information of the sensor hub corresponding to a position of the sensor hub in which the second perspective is aligned with the first perspective; and
modify the second image based on the second position information of the sensor hub to produce a modified second image showing the second portion of the environment modified to be from the first perspective.
21 . The apparatus of claim 20 , wherein the processor is further configured to generate a combined image from the first image and the modified second image.
22 . The apparatus of claim 21 , wherein the processor is further configured to cause a display of the HMD to display the combined image.
23 . The apparatus of claim 20 , wherein the processor is further configured to determine the position information of the camera based at least in part on motion data captured by an inertial measurement unit (IMU) associated with the HMD.
24 . The apparatus of claim 23 , wherein the processor is configured to determine the first position information and the second position information of the sensor hub without using motion data captured by an IMU associated with the sensor hub.
25 . The apparatus of claim 20 , wherein the sensor hub is couplable to the HMD via a connector and not disposed on a unitary rigid structure with the HMD, such that the sensor hub is displaceable relative to the HMD based on a pliancy of the connector.
26 . The apparatus of claim 20 , wherein the processor is configured to determine the first position information or determine the second position information further based on motion data captured by an IMU associated with the sensor hub.
27 . The apparatus of claim 20 , further comprising a connector configured to mechanically couple the sensor hub to the HMD, the connector including a hinge configured to enable the sensor hub to be rotated relative to the HMD.
28 . The apparatus of claim 20 , wherein the processor is configured to modify the second image by warping a view of the second portion of the environment captured by the sensor hub.
29 . A non-transitory processor-readable medium storing code representing instructions to be executed by one or more processors, the instructions comprising code to cause the one or more processors to:
receive a first image captured by a camera of a head-mounted display (HMD), the first image including a set of fiducials of a sensor hub couplable to the HMD, the set of fiducials within a field of view of the camera, and a first portion of an environment near the HMD from a first perspective;
receive a second image captured by sensors of the sensor hub, the second image capturing a second portion of the environment from a second perspective;
determine first position information of the sensor hub based on a location of the set of fiducials in the first image;
determine second position information of the sensor hub based on the first position information of the sensor hub and position information of the camera, the second position information of the sensor hub corresponding to a position of the sensor hub in which the second perspective is aligned with the first perspective; and
modify the second image based on the second position information of the sensor hub to produce a modified second image showing the second portion of the environment modified to be from the first perspective.
30 . The non-transitory processor-readable medium of claim 29 , wherein the code to cause the one or more processors to determine the first position information or the code to cause the one or more processors to determine the second position information including code to cause the one or more processors to determine the first position information or the second position information further based on motion data captured by an inertial measurement unit (IMU) associated with the sensor hub.