IP Library › Granted Patent US 12,293,471
Granted Patent B2
US 12,293,471 · App. 17/571,172 · Granted May 6, 2025

Cross reality system supporting multiple device types

Inventors: Xuan Zhao (San Jose, CA); Ali Shahrokni (San Jose, CA); Daniel Olshansky (Mountain View, CA); Christian Ivan Robert Moore (Cupertino, CA); Rafael Domingos Torres (Boca Raton, FL); Joel David Holder (Austin, TX)
Assignee: Magic Leap, Inc.
G06T19/006G06F3/011G06T5/50G06T5/70G06T7/73H04L67/131G06T2200/04G06T2207/20201
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Quick Facts
Patent No.
US 12,293,471
App. No.
17/571,172
Granted
May 6, 2025
Kind
B2
Abstract

A cross reality system enables any of multiple types of devices to efficiently and accurately access previously stored maps and render virtual content specified in relation to those maps. The cross reality system may include a cloud-based localization service that responds to requests from devices to localize with respect to a stored map. Devices of any type, with native hardware and software configured for augmented reality operations may be configured to work with the cross reality system by incorporating components that interface between the native AR framework of the device and the cloud-based localization service. These components may present position information about the device in a format recognized by the localization service. Additionally, these components may filter or otherwise process perception data provided by the native AR framework to increase the accuracy of localization.

Claims (58)

1. A method of operating a portable electronic device of a first type in a cross reality system in which devices of multiple types interact with a remote localization service via at least one network, the method comprising:

capturing a plurality of images with one or more sensors on the portable electronic device of the first type, wherein the plurality of images comprise pixels depicting a three-dimensional (3D) environment of the portable electronic device of the first type at a time of capture, and the capturing is controlled by a native AR framework of the portable electronic device of the first type;

modifying, by an interface component of the portable electronic device of the first type, the plurality of images to normalize values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type with respect to values of pixels in images captured with electronic devices of a second type such that the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type are more consistent with the values of pixels in images captured with electronic devices of the second type, wherein the native AR framework of the portable electronic device of the first type is not configured to operate with the remote localization service, and the electronic devices of the second type comprise native AR frameworks configured to operate with the remote localization service; and

causing information related to at least a subset of the plurality of modified images to be transmitted to the remote localization service, wherein the portable electronic device of the first type comprises one or more components configured to communicate with the remote localization service via the at least one network so as to transmit the at least a subset of the plurality of modified images to the remote localization service, and the interface component of the portable electronic device of the first type is configured to format a response from the remote localization service such that the formatted response can be used by the native AR framework of the portable electronic device of the first type to position virtual content on the device.

2. The method of claim 1 , comprising:

obtaining, from the remote localization service, a transformation between a first coordinate frame local to the portable electronic device of the first type and a second coordinate frame shared with the electronic devices of the second type; and

rendering, based on the obtained transformation, a virtual object positioned in a location with respect to the 3D environment such that the virtual object is accessible to both the portable electronic device of the first type and the electronic devices of the second type at the location with respect to the 3D environment, wherein:

the plurality of images captured with the one or more sensors on the portable electronic device of the first type are two-dimensional (2D) images; and

the electronic devices of the second type are configured to capture three-dimensional (3D) images.

3. The method of claim 1 , wherein modifying the plurality of images to normalize the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type with respect to the values of the pixels in the images captured with the electronic devices of the second type such that the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type are more consistent with the values of pixels in images captured with electronic devices of the second type comprises:

changing values for a parameter of interest for the pixels of the plurality of images captured by the sensor to approximate the values expected if the plurality of images were captured with the electronic devices of the second type.

4. The method of claim 1 , wherein modifying the plurality of images to normalize the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type with respect to the values of the pixels in the images captured with the electronic devices of the second type such that the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type are more consistent with the values of pixels in images captured with electronic devices of the second type comprises:

mapping values for a parameter of interest for a first number of pixels of one of the plurality of images to a second number of pixels according to the images captured with the electronic devices of the second type, the second number being different from the first number.

5. The method of claim 4 , wherein:

the first number is less than the second number; and

the first number of pixels are interpolated to the second number of pixels such that the second number of pixels forms an image having values as if the image were captured by the electronic devices of the second type.

6. The method of claim 1 , wherein:

the portable electronic device is a handheld device; and

the second type is a wearable device comprising a head mounted display comprising a plurality of cameras mounted thereon.

7. The method of claim 1 , wherein modifying the plurality of images to normalize the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type with respect to the values of the pixels in the images captured with the electronic devices of the second type such that the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type are more consistent with the values of pixels in images captured with electronic devices of the second type comprises:

combining at least two images of the plurality of images to form a single normalized image.

8. A portable electronic device of a first type in a cross reality system in which devices of multiple types interact with a remote localization service via at least one network, the portable electronic device of the first type comprising:

one or more sensors configured to capture a plurality of images; and

at least one processor configured to execute computer executable instructions, wherein the computer executable instructions comprise instructions for performing a method comprising:

capturing the plurality of images with the one or more sensors on the portable electronic device of the first type, wherein the plurality of images comprise pixels depicting a three-dimensional (3D) environment of the portable electronic device of the first type at a time of capture, and the capturing is controlled by a native AR framework of the portable electronic device;

modifying, by an interface component of the portable electronic device of the first type, the plurality of images to normalize values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type with respect to values of pixels in images captured with electronic devices of a second type such that the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type are more consistent with the values of pixels in images captured with electronic devices of the second type, wherein the native AR framework of the portable electronic device of the first type is not configured to operate with the remote localization service, and the electronic devices of the second type comprise native AR frameworks configured to operate with the remote localization service; and

causing information related to at least a subset of the plurality of modified images to be transmitted to the remote localization service, wherein the portable electronic device of the first type comprises one or more components configured to communicate with the remote localization service via the at least one network so as to transmit the at least a subset of the plurality of modified images to the remote localization service, and the interface component of the portable electronic device of the first type is configured to format a response from the remote localization service such that the formatted response can be used by the native AR framework of the portable electronic device of the first type to position virtual content on the device.

9. The portable electronic device of claim 8 , wherein:

the plurality of images captured with the one or more sensors on the portable electronic device of the first type are two-dimensional (2D) images; and

the electronic devices of the second type are configured to capture three-dimensional (3D) images.

10. The portable electronic device of claim 8 , wherein modifying the plurality of images to normalize the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type with respect to the values of the pixels in the images captured with the electronic devices of the second type such that the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type are more consistent with the values of pixels in images captured with electronic devices of the second type comprises:

changing values for a parameter of interest for the pixels of the plurality of images captured by the sensor to approximate the values expected if the plurality of images were captured with the electronic devices of the second type.

11. The portable electronic device of claim 8 , wherein modifying the plurality of images to normalize the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type with respect to the values of the pixels in the images captured with the electronic devices of the second type such that the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type are more consistent with the values of pixels in images captured with electronic devices of the second type comprises:

mapping values for a parameter of interest for a first number of pixels of one of the plurality of images to a second number of pixels according to the images captured with the electronic devices of the second type, the second number being different from the first number.

12. The portable electronic device of claim 11 , wherein:

the first number is less than the second number; and

the first number of pixels are interpolated to the second number of pixels such that the second number of pixels forms an image having values as if the image were captured by the electronic devices of the second type.

13. The portable electronic device of claim 8 , wherein:

the portable electronic device is a handheld device; and

the second type is a wearable device comprising a head mounted display comprising a plurality of cameras mounted thereon.

14. The portable electronic device of claim 8 , wherein modifying the plurality of images to normalize the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type with respect to the values of the pixels in the images captured with the electronic devices of the second type such that the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type are more consistent with the values of pixels in images captured with electronic devices of the second type comprises:

combining at least two images of the plurality of images to form a single normalized image.

15. A non-transitory computer-readable medium storing computer executable instructions configured to, when executed by at least one processor, perform a method for operating a portable electronic device of a first type in a cross reality system in which devices of multiple types interact with a remote localization service via at least one network, the method comprising:

capturing a plurality of images with one or more sensors on the portable electronic device of the first type, wherein the plurality of images comprise pixels depicting a three-dimensional (3D) environment of the portable electronic device of the first type at a time of capture, and the capturing is controlled by a native AR framework of the portable electronic device of the first type;

modifying, by an interface component of the portable electronic device of the first type, the plurality of images to normalize values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type with respect to values of pixels in images captured with electronic devices of a second type such that the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type are more consistent with the values of pixels in images captured with electronic devices of the second type, wherein the native AR framework of the portable electronic device of the first type is not configured to operate with the remote localization service, and the electronic devices of the second type comprise native AR frameworks configured to operate with the remote localization service; and

causing information related to at least a subset of the plurality of modified images to be transmitted to the remote localization service, wherein the portable electronic device of the first type comprises one or more components configured to communicate with the remote localization service via the at least one network so as to transmit the at least a subset of the plurality of modified images to the remote localization service, and the interface component of the portable electronic device of the first type is configured to format a response from the remote localization service such that the formatted response can be used by the native AR framework of the portable electronic device of the first type to position virtual content on the device.

16. The non-transitory computer-readable medium of claim 15 , wherein:

the plurality of images captured with the one or more sensors on the portable electronic device of the first type are two-dimensional (2D) images; and

the electronic devices of the second type are configured to capture three-dimensional (3D) images.

17. The non-transitory computer-readable medium of claim 15 , wherein modifying the plurality of images to normalize the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type with respect to the values of the pixels in the images captured with the electronic devices of the second type such that the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type are more consistent with the values of pixels in images captured with electronic devices of the second type comprises:

changing values for a parameter of interest for the pixels of the plurality of images captured by the sensor to approximate the values expected if the plurality of images were captured with the electronic devices of the second type.

18. The non-transitory computer-readable medium of claim 15 , wherein modifying the plurality of images to normalize the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type with respect to the values of the pixels in the images captured with the electronic devices of the second type such that the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type are more consistent with the values of pixels in images captured with electronic devices of the second type comprises:

mapping values for a parameter of interest for a first number of pixels of one of the plurality of images to a second number of pixels according to the images captured with the electronic devices of the second type, the second number being different from the first number.

19. The non-transitory computer-readable medium of claim 18 , wherein:

the first number is less than the second number; and

the first number of pixels are interpolated to the second number of pixels such that the second number of pixels forms an image having values as if the image were captured by the electronic devices of the second type.

20. The non-transitory computer-readable medium of claim 15 , wherein modifying the plurality of images to normalize the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type with respect to the values of the pixels in the images captured with the electronic devices of the second type such that the values of the pixels in the plurality of images captured with the one or more sensors on the portable electronic device of the first type are more consistent with the values of pixels in images captured with electronic devices of the second type comprises:

combining at least two images of the plurality of images to form a single normalized image.

Assignments (4)
SECURITY INTEREST Recorded Oct 31, 2025
From: MAGIC LEAP, INC.; MENTOR ACQUISITION ONE, LLC; MOLECULAR IMPRINTS, INC.
To: CITIBANK, N.A., AS COLLATERAL AGENT
Reel/Frame 073439/0168 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Nov 21, 2022
From: ZHAO, XUAN; OLSHANSKY, DANIEL; MOORE, CHRISTIAN IVAN ROBERT; TORRES, RAFAEL DOMINGOS; HOLDER, JOEL DAVID
To: MAGIC LEAP, INC.
Reel/Frame 061840/0839 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Nov 21, 2022
From: SHAHROKNI, ALI
To: MAGIC LEAP, INC.
Reel/Frame 061840/0940 →
SECURITY INTEREST Recorded May 24, 2022
From: MOLECULAR IMPRINTS, INC.; MENTOR ACQUISITION ONE, LLC; MAGIC LEAP, INC.
To: CITIBANK, N.A., AS COLLATERAL AGENT
Reel/Frame 060338/0665 →
Continuity (3)
Continuation 17071907 · Oct 15, 2020
Provisional Application 62915575 · Oct 15, 2019
Related Publication 20220130120A1 · Apr 28, 2022
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