Display systems and methods for correcting drifts in camera poses

US11138760B2 · kind B2 · utility

Assignee

• Varjo Technologies 0y · FI

Inventors

• Thomas Carlsson · Uppsala, SE
• Ville Timonen · Espoo, FI

Key dates

• Filing date: Nov 6, 2019
• Grant date: Oct 5, 2021
• Expiry date: Jun 10, 2040

Classification

• Technology area (CPC H): Electricity
• CPC primary: H04N2013/0081
• WIPO field: Audio-visual technology
• WIPO sector: Electrical engineering

Abstract

A display system and method for correcting drifts in camera poses. Images are captured via camera, and camera poses are determined in global coordinate system. First features are extracted from first image. Relative pose of first feature with respect to camera is determined. Pose of first feature in global coordinate system is determined, based on its relative pose and first camera pose. Second features are extracted from second image. Relative pose of second feature with respect to camera is determined. Pose of second feature in global coordinate system is determined, based on its relative pose and second camera pose. Matching features are identified between first features and second features. Difference is determined between pose of feature based on first camera pose and pose of feature based on second camera pose. Matching features that satisfy first predefined criterion based on difference are selected. Correction transform that, when applied to second camera pose, yields corrected second camera pose is generated, such that corrected differences between poses of matching features based on corrected second camera pose and corresponding poses of matching features based on first c…