Canadian Patents Database / Patent 3011377 Summary

Third-party information liability

Some of the information on this Web page has been provided by external sources. The Government of Canada is not responsible for the accuracy, reliability or currency of the information supplied by external sources. Users wishing to rely upon this information should consult directly with the source of the information. Content provided by external sources is not subject to official languages, privacy and accessibility requirements.

Claims and Abstract availability

Any discrepancies in the text and image of the Claims and Abstract are due to differing posting times. Text of the Claims and Abstract are posted:

  • At the time the application is open to public inspection;
  • At the time of issue of the patent (grant).
(12) Patent Application: (11) CA 3011377
(54) English Title: SYSTEMS AND METHODS FOR AUGMENTED REALITY
(54) French Title: SYSTEMES ET PROCEDES POUR REALITE AUGMENTEE
(51) International Patent Classification (IPC):
  • G06F 3/01 (2006.01)
  • A63F 13/52 (2014.01)
  • G02B 27/00 (2006.01)
  • G06F 3/00 (2006.01)
  • G06F 3/03 (2006.01)
(72) Inventors :
  • MILLER, SAMUEL A. (United States of America)
  • WOODS, MICHAEL J. (United States of America)
  • LUNDMARK, DAVID C. (United States of America)
(73) Owners :
  • MAGIC LEAP, INC. (Not Available)
(71) Applicants :
  • MAGIC LEAP, INC. (United States of America)
(74) Agent: RICHES, MCKENZIE & HERBERT LLP
(74) Associate agent:
(45) Issued:
(86) PCT Filing Date: 2017-02-06
(87) Open to Public Inspection: 2017-08-10
(30) Availability of licence: N/A
(30) Language of filing: English

(30) Application Priority Data:
Application No. Country/Territory Date
62/292,185 United States of America 2016-02-05
62/298,993 United States of America 2016-02-23
15/062,104 United States of America 2016-03-05

English Abstract

An augmented reality display system includes an electromagnetic field emitter to emit a known magnetic field in a known coordinate system. The system also includes an electromagnetic sensor to measure a parameter related to a magnetic flux at the electromagnetic sensor resulting from the known magnetic field. The system further includes a depth sensor to measure a distance in the known coordinate system. Moreover, the system includes a controller to determine pose information of the electromagnetic sensor relative to the electromagnetic field emitter in the known coordinate system based at least in part on the parameter related to the magnetic flux measured by the electromagnetic sensor and the distance measured by the depth sensor. In addition, the system includes a display system to display virtual content to a user based at least in part on the pose information of the electromagnetic sensor relative to the electromagnetic field emitter.


French Abstract

Un système d'affichage de réalité augmentée comprend un émetteur de champ électromagnétique pour émettre un champ magnétique connu dans un système de coordonnées connu. Le système comprend également un capteur électromagnétique pour mesurer un paramètre lié à un flux magnétique dans le capteur électromagnétique résultant du champ magnétique connu. Le système comprend en outre un capteur de profondeur pour mesurer une distance dans le système de coordonnées connu. Par ailleurs, le système comprend un contrôleur pour déterminer des informations de pose du capteur électromagnétique par rapport à l'émetteur de champ électromagnétique dans le système de coordonnées connu sur la base au moins en partie du paramètre lié au flux magnétique mesuré par le capteur électromagnétique et de la distance mesurée par le capteur de profondeur. En outre, le système comprend un système d'affichage pour afficher un contenu virtuel à un utilisateur sur la base au moins en partie des informations de pose du capteur électromagnétique par rapport à l'émetteur de champ électromagnétique.


Note: Claims are shown in the official language in which they were submitted.

CLAIMS
1. An augmented reality (AR) display system, comprising:
an electromagnetic field emitter to emit a known magnetic field in a known
coordinate system;
an electromagnetic sensor to measure a parameter related to a magnetic flux at
the
electromagnetic sensor resulting from the known magnetic field;
a depth sensor to measure a distance in the known coordinate system;
a controller to determine pose information of the electromagnetic sensor
relative to
the electromagnetic field emitter in the known coordinate system based at
least in part on the
parameter related to the magnetic flux measured by the electromagnetic sensor
and the
distance measured by the depth sensor; and
a display system to display virtual content to a user based at least in part
on the pose
information of the electromagnetic sensor relative to the electromagnetic
field emitter.
2. The AR display system of claim 1, further comprising a world capture
camera
and a picture camera,
wherein the depth sensor comprises a depth camera having a first field of view

(FOV),
wherein the world capture camera has a second FOV at least partially
overlapping
with the first FOV,
wherein the picture camera has a third FOV at least partially overlapping with
the first
FOV and the second FOV, and
wherein the depth camera, the world capture camera, and the picture camera are

configured to capture respective first, second, and third images.
3. The AR display system of claim 2, wherein the controller is programmed
to
segment the second and third images.

4. The AR display system of claim 3, wherein the controller is programmed
to
fuse the second and third images after segmenting the second and third images
to generate a
fused image.
5. The AR display system of claim 1, further comprising an additional
localization resource to provide additional information, wherein the pose
information of the
electromagnetic sensor relative to the electromagnetic field emitter in the
known coordinate
system is determined based at least in part on the parameter related to the
magnetic flux
measured by the electromagnetic sensor, the distance measured by the depth
sensor, and the
additional information provided by the additional localization resource.
6. The AR display system of claim 1, wherein the electromagnetic field
emitter is
coupled to a mobile component of the AR display system.
7. An augmented reality display system, comprising:
a hand-held component coupled to an electromagnetic field emitter, the
electromagnetic field emitter emitting a magnetic field;
a head-mounted component having a display system that displays virtual content
to a
user, the head mounted component coupled to an electromagnetic sensor
measuring a
parameter related to a magnetic flux at the electromagnetic sensor resulting
from the
magnetic field, wherein a head pose of the head-mounted component in a known
coordinate
system is known;
a depth sensor measuring a distance in the known coordinate system; and
a controller communicatively coupled to the hand-held component, the head-
mounted
component, and the depth sensor, the controller receiving the parameter
related to the
magnetic flux at the electromagnetic sensor from the head mounted component
and receiving
the distance from the depth sensor,
36

wherein the controller determines a hand pose of the hand-held component based
at
least in part on the parameter related to the magnetic flux measured by the
electromagnetic
sensor and the distance measured by the depth sensor,
wherein the system modifies the virtual content displayed to the user based at
least in
part on the hand pose.
37

Note: Descriptions are shown in the official language in which they were submitted.

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
SYSTEMS AND METHODS FOR AUGMENTED REALITY
RELATED APPLICATIONS DATA
[0001] The
present application claims the benefit of priority to U.S. Provisional Patent
Application Serial Nos. 62/292,185, filed on February 5, 2016 and 62/298,993,
filed on February
23, 2016. The present application is also a Continuation-in-Part of U.S.
Patent Application
Serial No. 15/062,104, filed on March 5, 2016, which claims the benefit of
priority to U.S.
Provisional Patent Application Serial Nos. 62/128,993, filed on March 5, 2015
and 62/292,185,
filed on February 5, 2016. The present application is also related to U.S.
Provisional Patent
Application Serial No. 62/301,847, filed on March 1, 2016. The foregoing
applications are
hereby incorporated by reference into the present application in their
entirety.
FIELD OF THE INVENTION
[0002] The
present disclosure relates to systems and methods to localize position and
orientation of one or more objects in the context of augmented reality
systems.
BACKGROUND
[0003] Modem
computing and display technologies have facilitated the development of
systems for so called "virtual reality" or "augmented reality" experiences,
wherein digitally
reproduced images or portions thereof are presented to a user in a manner
wherein they seem to
be, or may be perceived as, real. A virtual reality, or "VR", scenario
typically involves
presentation of digital or virtual image information without transparency to
other actual real-
world visual input; an augmented reality, or "AR", scenario typically involves
presentation of
digital or virtual image information as an augmentation to visualization of
the actual world
around the user.
[0004] For example, referring to Figure 1, an augmented reality scene (4)
is depicted
wherein a user of an AR technology sees a real-world park-like setting (6)
featuring people,
trees, buildings in the background, and a concrete platform (1120). In
addition to these items,
the user of the AR technology also perceives that he "sees" a robot statue
(1110) standing upon
the real-world platform (1120), and a cartoon-like avatar character (2) flying
by which seems to
be a personification of a bumble bee, even though these elements (2, 1110) do
not exist in the
1

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
real world. As it turns out, the human visual perception system is very
complex, and producing a
VR or AR technology that facilitates a comfortable, natural-feeling, rich
presentation of virtual
image elements amongst other virtual or real-world imagery elements is
challenging.
[0005] For instance, head-worn AR displays (or helmet-mounted displays,
or smart
glasses) typically are at least loosely coupled to a user's head, and thus
move when the user's
head moves. If the user's head motions are detected by the display system, the
data being
displayed can be updated to take the change in head pose into account.
[0006] As an example, if a user wearing a head-worn display views a
virtual
representation of a three-dimensional (3D) object on the display and walks
around the area where
the 3D object appears, that 3D object can be re-rendered for each viewpoint,
giving the user the
perception that he or she is walking around an object that occupies real
space. If the head-worn
display is used to present multiple objects within a virtual space (for
instance, a rich virtual
world), measurements of head pose (i.e., the location and orientation of the
user's head) can be
used to re-render the scene to match the user's dynamically changing head
location and
orientation and provide an increased sense of immersion in the virtual space.
[0007] In AR systems, detection or calculation of head pose can
facilitate the display
system to render virtual objects such that they appear to occupy a space in
the real world in a
manner that makes sense to the user. In addition, detection of the position
and/or orientation of a
real object, such as handheld device (which also may be referred to as a
"totem"), haptic device,
or other real physical object, in relation to the user's head or AR system may
also facilitate the
display system in presenting display information to the user to enable the
user to interact with
certain aspects of the AR system efficiently. As the user's head moves around
in the real world,
the virtual objects may be re-rendered as a function of head pose, such that
the virtual objects
appear to remain stable relative to the real world. At least for AR
applications, placement of
virtual objects in spatial relation to physical objects (e.g., presented to
appear spatially proximate
a physical object in two- or three-dimensions) may be a non-trivial problem.
For example, head
movement may significantly complicate placement of virtual objects in a view
of an ambient
environment. Such is true whether the view is captured as an image of the
ambient environment
and then projected or displayed to the end user, or whether the end user
perceives the view of the
ambient environment directly. For instance, head movement will likely cause a
field of view of
2

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
the end user to change, which will likely require an update to where various
virtual objects are
displayed in the field of the view of the end user. Additionally, head
movements may occur
within a large variety of ranges and speeds. Head movement speed may vary not
only between
different head movements, but within or across the range of a single head
movement. For
instance, head movement speed may initially increase (e.g., linearly or not)
from a starting point,
and may decrease as an ending point is reached, obtaining a maximum speed
somewhere
between the starting and ending points of the head movement. Rapid head
movements may
even exceed the ability of the particular display or projection technology to
render images that
appear uniform and/or as smooth motion to the end user.
[0008] Head tracking accuracy and latency (i.e., the elapsed time between
when the user
moves his or her head and the time when the image gets updated and displayed
to the user) have
been challenges for VR and AR systems. Especially for display systems that
fill a substantial
portion of the user's visual field with virtual elements, it is critical that
the accuracy of head-
tracking is high and that the overall system latency is very low from the
first detection of head
motion to the updating of the light that is delivered by the display to the
user's visual system. If
the latency is high, the system can create a mismatch between the user's
vestibular and visual
sensory systems, and generate a user perception scenario that can lead to
motion sickness or
simulator sickness. If the system latency is high, the apparent location of
virtual objects will
appear unstable during rapid head motions.
[0009] In addition to head-worn display systems, other display systems can
benefit from
accurate and low latency head pose detection. These include head-tracked
display systems in
which the display is not worn on the user's body, but is, e.g., mounted on a
wall or other surface.
The head-tracked display acts like a window onto a scene, and as a user moves
his head relative
to the "window" the scene is re-rendered to match the user's changing
viewpoint. Other systems
include a head-worn projection system, in which a head-worn display projects
light onto the real
world.
[00010] Additionally, in order to provide a realistic augmented reality
experience, AR
systems may be designed to be interactive with the user. For example, multiple
users may play a
ball game with a virtual ball and/or other virtual objects. One user may
"catch" the virtual ball,
and throw the ball back to another user. In another embodiment, a first user
may be provided
3

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
with a totem (e.g., a real bat communicatively coupled to the AR system) to
hit the virtual ball.
In other embodiments, a virtual user interface may be presented to the AR user
to allow the user
to select one of many options. The user may use totems, haptic devices,
wearable components,
or simply touch the virtual screen to interact with the system.
[00011] Detecting head pose and orientation of the user, and detecting a
physical location
of real objects in space enable the AR system to display virtual content in an
effective and
enjoyable manner. However, although these capabilities are key to an AR
system, but are
difficult to achieve. In other words, the AR system must recognize a physical
location of a real
object (e.g., user's head, totem, haptic device, wearable component, user's
hand, etc.) and
correlate the physical coordinates of the real object to virtual coordinates
corresponding to one or
more virtual objects being displayed to the user. This requires highly
accurate sensors and
sensor recognition systems that track a position and orientation of one or
more objects at rapid
rates. Current approaches do not perform localization at satisfactory speed or
precision
standards.
[00012] There, thus, is a need for a better localization system in the
context of AR and VR
devices.
SUMMARY
[00013] Embodiments of the present invention are directed to devices,
systems and
methods for facilitating virtual reality and/or augmented reality interaction
for one or more users.
[00014] In one embodiment, an augmented reality (AR) display system
includes an
electromagnetic field emitter to emit a known magnetic field in a known
coordinate system. The
system also includes an electromagnetic sensor to measure a parameter related
to a magnetic flux
at the electromagnetic sensor resulting from the known magnetic field. The
system further
includes a depth sensor to measure a distance in the known coordinate system.
Moreover, the
system includes a controller to determine pose information of the
electromagnetic sensor relative
to the electromagnetic field emitter in the known coordinate system based at
least in part on the
parameter related to the magnetic flux measured by the electromagnetic sensor
and the distance
measured by the depth sensor. In addition, the system includes a display
system to display
4

CA 03011377 2018-07-12
WO 2017/136833
PCT/US2017/016722
virtual content to a user based at least in part on the pose information of
the electromagnetic
sensor relative to the electromagnetic field emitter.
[00015] In one or more embodiments, the depth sensor is a passive stereo
depth sensor.
[00016] In one or more embodiments, the depth sensor is an active depth
sensor. The
depth sensor may be a texture projection stereo depth sensor, a structured
light projection stereo
depth sensor, a time of flight depth sensor, a LIDAR depth sensor, or a
modulated emission
depth sensor.
[00017] In one or more embodiments, the depth sensor includes a depth
camera having a
first field of view (FOV). The AR display system may also include a world
capture camera,
where the world capture camera has a second FOV at least partially overlapping
with the first
FOV. The AR display system may also include a picture camera, where the
picture camera has a
third FOV at least partially overlapping with the first FOV and the second
FOV. The depth
camera, the world capture camera, and the picture camera may have respective
different first,
second, and third resolutions. The first resolution of the depth camera may be
sub-VGA, the
second resolution of the world capture camera may be 720p, and the third
resolution of the
picture camera may be 2 megapixels.
[00018] In one or more embodiments, the depth camera, the world capture
camera, and the
picture camera are configured to capture respective first, second, and third
images. The
controller may be programmed to segment the second and third images. The
controller may be
programmed to fuse the second and third images after segmenting the second and
third images to
generate a fused image. Measuring a distance in the known coordinate system
may include
generating a hypothetical distance by analyzing the first image from the depth
camera, and
generating the distance by analyzing the hypothetical distance and the fused
image. The depth
camera, the world capture camera, and the picture camera may form a single
integrated sensor.
[00019] In one or more embodiments, the AR display system also includes an
additional
localization resource to provide additional information. The pose information
of the
electromagnetic sensor relative to the electromagnetic field emitter in the
known coordinate
system may be determined based at least in part on the parameter related to
the magnetic flux

CA 03011377 2018-07-12
=
WO 2017/136833
PCT/1JS2017/016722
measured by the electromagnetic sensor, the distance measured by the depth
sensor, and the
additional information provided by the additional localization resource.
[00020] In one or more embodiments, the additional localization
resource may include a
WiFi transceiver, an additional electromagnetic emitter, or an additional
electromagnetic sensor.
The additional localization resource may include a beacon. The beacon may emit
radiation. The
radiation may be infrared radiation, and the beacon may include an infrared
LED. The additional
localization resource may include a reflector. The reflector may reflect
radiation.
[00021] In one or more embodiments, the additional localization
resource may include a
cellular network transceiver, a RADAR emitter, a RADAR detector, a L1DAR
emitter, a LIDAR
detector, a GPS transceiver, a poster having a known detectable pattern, a
marker having a
known detectable pattern, an inertial measurement unit, or a strain gauge.
[00022] In one or more embodiments, the electromagnetic field emitter
is coupled to a
mobile component of the AR display system. The mobile component may be a hand-
held
component, a totem, a head-mounted component that houses the display system, a
torso-worn
component, or a belt-pack.
[00023] In one or more embodiments, the electromagnetic field emitter is
coupled to an
object in the known coordinate system, such that the electromagnetic field
emitter has a known
position and a known orientation. The electromagnetic sensor may be coupled to
a mobile
component of the AR display system. The mobile component may be a hand-held
component, a
totem, a head-mounted component that houses the display system, a torso-worn
component, or a
belt-pack.
[00024] In one or more embodiments, the pose information includes a
position and an
orientation of the electromagnetic sensor relative to the electromagnetic
field emitter in the
known coordinate system. The controller may analyze the pose information to
determine a
position and an orientation of the electromagnetic sensor in the known
coordinate system.
[00025] In another embodiment, a method for displaying augmented reality
includes
emitting, using an electromagnetic field emitter, a known magnetic field in a
known coordinate
system. The method also include measuring, using an electromagnetic sensor, a
parameter
6

CA 03011377 2018-07-12
WO 2017/136833
PCT/1JS2017/016722
related to a magnetic flux at the electromagnetic sensor resulting from the
known magnetic field.
The method further include measuring, using a depth sensor, a distance in the
known coordinate
system. Moreover, the method includes determining pose information of the
electromagnetic
sensor relative to the electromagnetic field emitter in the known coordinate
system based at least
in part on the parameter related to the magnetic flux measured using the
electromagnetic sensor
and the distance measured using the depth sensor. In addition, the method
includes displaying
virtual content to a user based at least in part on the pose information of
the electromagnetic
sensor relative to the electromagnetic field emitter.
[00026] In one or more embodiments, the depth sensor is a passive stereo
depth sensor.
[00027] In one or more embodiments, the depth sensor is an active depth
sensor. The
depth sensor may be a texture projection stereo depth sensor, a structured
light projection stereo
depth sensor, a time of flight depth sensor, a LIDAR depth sensor, or a
modulated emission
depth sensor.
[00028] In one or more embodiments, the depth sensor includes a depth
camera having a
first field of view (FOV). The depth sensor may also include a world capture
camera, where the
world capture camera has a second FOV at least partially overlapping with the
first FOV. The
depth sensor may also include a picture camera, where the picture camera has a
third FOV at
least partially overlapping with the first FOV and the second FOV. The depth
camera, the world
capture camera, and the picture camera may have respective different first,
second, and third
resolutions. The first resolution of the depth camera may be sub-VGA, the
second resolution of
the world capture camera may be 720p, and the third resolution of the picture
camera may be 2
megapixels.
[00029] In one or more embodiments, method also includes capturing first,
second, and
third images using respective depth camera, world capture camera, and picture
camera. The
method may also include segmenting the second and third images. The method may
further
include fusing the second and third images after segmenting the second and
third images to
generate a fused image. Measuring a distance in the known coordinate system
may include
generating a hypothetical distance by analyzing the first image from the depth
camera, and
7

CA 03011377 2018-07-12
WO 2017/136833
PCT/US2017/016722
generating the distance by analyzing the hypothetical distance and the fused
image. The depth
camera, the world capture camera, and the picture camera may form a single
integrated sensor.
[00030] In one or more embodiments, the method also includes determining
the pose
information of the electromagnetic sensor relative to the electromagnetic
field emitter in the
known coordinate system based at least in part on the parameter related to the
magnetic flux
measured using the electromagnetic sensor, the distance measured using the
depth sensor, and
additional information provided by an additional localization resource.
[00031] In one or more embodiments, the additional localization resource
may include a
WiFi transceiver, an additional electromagnetic emitter, or an additional
electromagnetic sensor.
The additional localization resource may include a beacon. The method may also
include the
beacon emitting radiation. The radiation may be infrared radiation, and the
beacon may include
an infrared LED. The additional localization resource may include a reflector.
The method may
also include the reflector reflecting radiation.
[00032] In one or more embodiments, the additional localization resource
may include a
cellular network transceiver, a RADAR emitter, a RADAR detector, a LlDAR
emitter, a LIDAR
detector, a GPS transceiver, a poster having a known detectable pattern, a
marker having a
known detectable pattern, an inertial measurement unit, or a strain gauge.
[00033] In one or more embodiments, the electromagnetic field emitter is
coupled to a
mobile component of an AR display system. The mobile component may be a hand-
held
component, a totem, a head-mounted component that houses the display system, a
torso-worn
component, or a belt-pack.
[00034] In one or more embodiments, the electromagnetic field emitter is
coupled to an
object in the known coordinate system, such that the electromagnetic field
emitter has a known
position and a known orientation. The electromagnetic sensor may be coupled to
a mobile
component of an AR display system. The mobile component may be a hand-held
component, a
totem, a head-mounted component that houses the display system, a torso-worn
component, or a
belt-pack.
8

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
[00035] In one or more embodiments, the pose information includes a
position and an
orientation of the electromagnetic sensor relative to the electromagnetic
field emitter in the
known coordinate system. The method may also include analyzing the pose
information to
determine a position and an orientation of the electromagnetic sensor in the
known coordinate
system.
[00036] In still another embodiment, an augmented reality display system
includes a hand-
held component coupled to an electromagnetic field emitter, the
electromagnetic field emitter
emitting a magnetic field. The system also includes a head-mounted component
having a display
system that displays virtual content to a user. The head mounted component is
coupled to an
electromagnetic sensor measuring a parameter related to a magnetic flux at the
electromagnetic
sensor resulting from the magnetic field, where a head pose of the head-
mounted component in a
known coordinate system is known. The system further includes a depth sensor
measuring a
distance in the known coordinate system. Moreover, the system includes a
controller
communicatively coupled to the hand-held component, the head-mounted
component, and the
depth sensor. The controller receives the parameter related to the magnetic
flux at the
electromagnetic sensor from the head mounted component and the distance from
the depth
sensor. The controller determines a hand pose of the hand-held component based
at least in part
on the parameter related to the magnetic flux measured by the electromagnetic
sensor and the
distance measured by the depth sensor. The system modifies the virtual content
displayed to the
user based at least in part on the hand pose.
[00037] In one or more embodiments, the depth sensor is a passive stereo
depth sensor.
[00038] In one or more embodiments, the depth sensor is an active depth
sensor. The
depth sensor may be a texture projection stereo depth sensor, a structured
light projection stereo
depth sensor, a time of flight depth sensor, a LIDAR depth sensor, or a
modulated emission
depth sensor.
[00039] In one or more embodiments, the depth sensor includes a depth
camera having a
first field of view (FOV). The AR display system may also include a world
capture camera,
where the world capture camera has a second FOV at least partially overlapping
with the first
FOV. The AR display system may also include a picture camera, where the
picture camera has a
9

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
third FOV at least partially overlapping with the first FOV and the second
FOV. The depth
camera, the world capture camera, and the picture camera may have respective
different first,
second, and third resolutions. The first resolution of the depth camera may be
sub-VGA, the
second resolution of the world capture camera may be 720p, and the third
resolution of the
picture camera may be 2 megapixels.
[00040] In one or more embodiments, the depth camera, the world capture
camera, and the
picture camera are configured to capture respective first, second, and third
images. The
controller may be programmed to segment the second and third images. The
controller may be
programmed to fuse the second and third images after segmenting the second and
third images to
generate a fused image. Measuring a distance in the known coordinate system
may include
generating a hypothetical distance by analyzing the first image from the depth
camera, and
generating the distance by analyzing the hypothetical distance and the fused
image. The depth
camera, the world capture camera, and the picture camera may form a single
integrated sensor.
[00041] In one or more embodiments, the AR display system also includes an
additional
localization resource to provide additional information. The controller
determines the hand pose
of the hand-held component based at least in part on the parameter related to
the magnetic flux
measured by the electromagnetic sensor, the distance measured by the depth
sensor, and the
additional information provided by the additional localization resource.
[00042] In one or more embodiments, the additional localization resource
may include a
WiFi transceiver, an additional electromagnetic emitter, or an additional
electromagnetic sensor.
The additional localization resource may include a beacon. The beacon may emit
radiation. The
radiation may be infrared radiation, and the beacon may include an infrared
LED. The additional
localization resource may include a reflector. The reflector may reflect
radiation.
[00043] In one or more embodiments, the additional localization resource
may include a
cellular network transceiver, a RADAR emitter, a RADAR detector, a L1DAR
emitter, a LIDAR
detector, a GPS transceiver, a poster having a known detectable pattern, a
marker having a
known detectable pattern, an inertial measurement unit, or a strain gauge.

CA 03011377 2018-07-12
X
WO 2017/136833
PCT/US2017/016722
[00044] In one or more embodiments, the electromagnetic field hand-held
component is a
totem. The hand pose information may include a position and an orientation of
the hand-held
component in the known coordinate system.
[00045] Additional and other objects, features, and advantages of the
invention are
described in the detail description, figures and claims.
BRIEF DESCRIPTION OF THE DRAWINGS
[00046] The drawings illustrate the design and utility of various
embodiments of the
present invention. It should be noted that the figures are not drawn to scale
and that elements of
similar structures or functions are represented by like reference numerals
throughout the figures.
In order to better appreciate how to obtain the above-recited and other
advantages and objects of
various embodiments of the invention, a more detailed description of the
present inventions
briefly described above will be rendered by reference to specific embodiments
thereof, which are
illustrated in the accompanying drawings. Understanding that these drawings
depict only typical
embodiments of the invention and are not therefore to be considered limiting
of its scope, the
invention will be described and explained with additional specificity and
detail through the use
of the accompanying drawings in which:
[00047] Fig. 1 illustrates a plan view of an AR scene displayed to a user
of an AR system
according to one embodiment.
[00048] Figs. 2A-2D illustrate various embodiments of wearable AR devices
[00049] Fig. 3 illustrates an example embodiment of a wearable AR device
interacting
with one or more cloud servers of the AR system.
[00050] Fig. 4 illustrates an example embodiment of an electromagnetic
tracking system.
[00051] Fig. 5 illustrates an example method of determining a position and
orientation of
sensors, according to one example embodiment.
[00052] Fig. 6 illustrates an example embodiment of as AR system having an
electromagnetic tracking system.
11

CA 03011377 2018-07-12
WO 2017/136833
PCT/US2017/016722
[00053] Fig. 7 illustrates an example method of delivering virtual content
to a user based
on detected head pose.
[00054] Fig. 8 illustrates a schematic view of various components of an AR
system
according to one embodiment having an electromagnetic transmitter and an
electromagnetic
sensor.
[00055] Figs. 9A-9F illustrate various embodiments of control and quick
release modules.
[00056] Fig. 10 illustrates one simplified embodiment of a wearable AR
device.
[00057] Figs. 11A and 11B illustrate various embodiments of placement of
the
electromagnetic sensors on head-mounted AR systems.
[00058] Figs. 12A-12E illustrate various embodiments of ferrite cubes to be
coupled to
electromagnetic sensors.
[00059] Fig. 13A-13C illustrate various embodiments of data processors for
electromagnetic sensors.
[00060] Fig. 14 illustrates an example method of using an electromagnetic
tracking system
to detect head and hand pose.
[00061] Fig. 15 illustrates another example method of using an
electromagnetic tracking
system to detect head and hand pose.
[00062] Fig. 16A illustrates a schematic view of various components of an
AR system
according to another embodiment having a depth sensor, an electromagnetic
transmitter and an
electromagnetic sensor.
[00063] Fig. 16B illustrates a schematic view of various components of an
AR system and
various fields of view according to still another embodiment having a depth
sensor, an
electromagnetic transmitter and an electromagnetic sensor.
12

CA 03011377 2018-07-12
*WO 2017/136833 PCT/US2017/016722
DETAILED DESCRIPTION
[00064] Referring to Figures 2A-2D, some general componentry options are
illustrated. In
the portions of the detailed description which follow the discussion of
Figures 2A-2D, various
systems, subsystems, and components are presented for addressing the
objectives of providing a
high-quality, comfortably-perceived display system for human VR and/or AR.
[00065] As shown in Figure 2A, an AR system user (60) is depicted wearing
head
mounted component (58) featuring a frame (64) structure coupled to a display
system (62)
positioned in front of the eyes of the user. A speaker (66) is coupled to the
frame (64) in the
depicted configuration and positioned adjacent the ear canal of the user (in
one embodiment,
another speaker, not shown, is positioned adjacent the other ear canal of the
user to provide for
stereo / shapeable sound control). The display (62) is operatively coupled
(68), such as by a
wired lead or wireless connectivity, to a local processing and data module
(70) which may be
mounted in a variety of configurations, such as fixedly attached to the frame
(64), fixedly
attached to a helmet or hat (80) as shown in the embodiment of Figure 2B,
embedded in
headphones, removably attached to the torso (82) of the user (60) in a
backpack-style
configuration as shown in the embodiment of Figure 2C, or removably attached
to the hip (84) of
the user (60) in a belt-coupling style configuration as shown in the
embodiment of Figure 2D.
[00066] The local processing and data module (70) may comprise a power-
efficient
processor or controller, as well as digital memory, such as flash memory, both
of which may be
utilized to assist in the processing, caching, and storage of data a) captured
from sensors which
may be operatively coupled to the frame (64), such as image capture devices
(such as cameras),
microphones, inertial measurement units, accelerometers, compasses, GPS units,
radio devices,
and/or gyros; and/or b) acquired and/or processed using the remote processing
module (72)
and/or remote data repository (74), possibly for passage to the display (62)
after such processing
or retrieval. The local processing and data module (70) may be operatively
coupled (76, 78),
such as via a wired or wireless communication links, to the remote processing
module (72) and
remote data repository (74) such that these remote modules (72, 74) are
operatively coupled to
each other and available as resources to the local processing and data module
(70).
13

CA 03011377 2018-07-12
WO 2017/136833 PCT/1JS2017/016722
[00067] In one embodiment, the remote processing module (72) may comprise
one or
more relatively powerful processors or controllers configured to analyze and
process data and/or
image information. In one embodiment, the remote data repository (74) may
comprise a
relatively large-scale digital data storage facility, which may be available
through the interne or
other networking configuration in a "cloud" resource configuration. In one
embodiment, all data
is stored and all computation is performed in the local processing and data
module, allowing
fully autonomous use from any remote modules.
[00068] Referring now to Fig. 3, a schematic illustrates coordination
between the cloud
computing assets (46) and local processing assets, which may, for example
reside in head
mounted componentry (58) coupled to the user's head (120) and a local
processing and data
module (70), coupled to the user's belt (308; therefore the component 70 may
also be termed a
"belt pack" 70), as shown in Figure 3. In one embodiment, the cloud (46)
assets, such as one or
more server systems (110) are operatively coupled (115), such as via wired or
wireless
networking (wireless being preferred for mobility, wired being preferred for
certain high-
bandwidth or high-data-volume transfers that may be desired), directly to (40,
42) one or both of
the local computing assets, such as processor and memory configurations,
coupled to the user's
head (120) and belt (308) as described above. These computing assets local to
the user may be
operatively coupled to each other as well, via wired and/or wireless
connectivity configurations
(44), such as the wired coupling (68) discussed below in reference to Figure 8
. In one
embodiment, to maintain a low-inertia and small-size subsystem mounted to the
user's head
(120), primary transfer between the user and the cloud (46) may be via the
link between the
subsystem mounted at the belt (308) and the cloud, with the head mounted (120)
subsystem
primarily data-tethered to the belt-based (308) subsystem using wireless
connectivity, such as
ultra-wideband ("UWB") connectivity, as is currently employed, for example, in
personal
computing peripheral connectivity applications.
[00069] With efficient local and remote processing coordination, and an
appropriate
display device for a user, such as the user interface or user display system
(62) shown in Figure
2A, or variations thereof, aspects of one world pertinent to a user's current
actual or virtual
location may be transferred or "passed" to the user and updated in an
efficient fashion. In other
words, a map of the world may be continually updated at a storage location
which may partially
14

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
reside on the user's AR system and partially reside in the cloud resources.
The map (also
referred to as a "passable world model") may be a large database comprising
raster imagery, 3-D
and 2-D points, parametric information and other information about the real
world. As more and
more AR users continually capture information about their real environment
(e.g., through
cameras, sensors, IMUs, etc.), the map becomes more and more accurate and
complete.
[00070] With a configuration as described above, wherein there is one
world model that
can reside on cloud computing resources and be distributed from there, such
world can be
"passable" to one or more users in a relatively low bandwidth form preferable
to trying to pass
around real-time video data or the like. The augmented experience of the
person standing near
the statue (i.e., as shown in Figure 1) may be informed by the cloud-based
world model, a subset
of which may be passed down to them and their local display device to complete
the view. A
person sitting at a remote display device, which may be as simple as a
personal computer sitting
on a desk, can efficiently download that same section of information from the
cloud and have it
rendered on their display. Indeed, one person actually present in the park
near the statue may
take a remotely-located friend for a walk in that park, with the friend
joining through virtual and
augmented reality. The system will need to know where the street is, wherein
the trees are,
where the statue is ¨ but with that information on the cloud, the joining
friend can download
from the cloud aspects of the scenario, and then start walking along as an
augmented reality local
relative to the person who is actually in the park.
[00071] 3-D points may be captured from the environment, and the pose
(i.e., vector
and/or origin position information relative to the world) of the cameras that
capture those images
or points may be determined, so that these points or images may be "tagged",
or associated, with
this pose information. Then points captured by a second camera may be utilized
to determine the
pose of the second camera. In other words, one can orient and/or localize a
second camera based
upon comparisons with tagged images from a first camera. Then this knowledge
may be utilized
to extract textures, make maps, and create a virtual copy of the real world
(because then there are
two cameras around that are registered).
[00072] So at the base level, in one embodiment a person-worn system can be
utilized to
capture both 3-D points and the 2-D images that produced the points, and these
points and
images may be sent out to a cloud storage and processing resource. They may
also be cached

CA 03011377 2018-07-12
A
W02017/136833 PCT/US2017/016722
locally with embedded pose information (i.e., cache the tagged images); so the
cloud may have
on the ready (i.e., in available cache) tagged 2-D images (i.e., tagged with a
3-D pose), along
with 3-D points. If a user is observing something dynamic, he may also send
additional
information up to the cloud pertinent to the motion (for example, if looking
at another person's
face, the user can take a texture map of the face and push that up at an
optimized frequency even
though the surrounding world is otherwise basically static). More information
on object
recognizers and the passable world model may be found in U.S. Patent
Application Ser. No.
14/205,126, entitled "System and method for augmented and virtual reality",
which is
incorporated by reference in its entirety herein, along with the following
additional disclosures,
which related to augmented and virtual reality systems such as those developed
by Magic Leap,
Inc. of Fort Lauderdale, Florida: U.S. Patent Application Serial Number
14/641,376; U.S.
Patent Application Serial Number 14/555,585; U.S. Patent Application Serial
Number
14/212,961; U.S. Patent Application Serial Number 14/690,401; U.S. Patent
Application Serial
Number 13/663,466; and U.S. Patent Application Serial Number 13/684,489.
[00073] In
order to capture points that can be used to create the "passable world model,"
it
is helpful to accurately know the user's location, pose and orientation with
respect to the world.
More particularly, the user's position must be localized to a granular degree,
because it may be
important to know the user's head pose, as well as hand pose (if the user is
clutching a handheld
component, gesturing, etc.). In one or more embodiments, GPS and other
localization
information may be utilized as inputs to such processing. Highly accurate
localization of the
user's head, totems, hand gestures, haptic devices etc. are crucial in
displaying appropriate
virtual content to the user.
[00074] One
approach to achieve high precision localization may involve the use of an
electromagnetic field coupled with electromagnetic sensors that are
strategically placed on the
user's AR head set, belt pack, and/or other ancillary devices (e.g., totems,
haptic devices, gaming
instruments, etc.).
Electromagnetic tracking systems typically comprise at least an
electromagnetic field emitter and at least one electromagnetic field sensor.
The sensors may
measure electromagnetic fields with a known distribution. Based on these
measurements a
position and orientation of a field sensor relative to the emitter is
determined.
16

CA 03011377 2018-07-12
1
WO 2017/136833 PCT/US2017/016722
[00075] Referring now to Fig. 4, an example system diagram of an
electromagnetic
tracking system (e.g., such as those developed by organizations such as the
Biosense (RTM)
division of Johnson & Johnson Corporation, Polhemus (RTM), Inc. of Colchester,
Vermont,
manufactured by Sixense (RTM) Entertainment, Inc. of Los Gatos, California,
and other tracking
companies) is illustrated. In one or more embodiments, the electromagnetic
tracking system
comprises an electromagnetic field emitter 402 which is configured to emit a
known magnetic
field. As shown in Fig. 4, the electromagnetic field emitter may be coupled to
a power supply
(e.g., electric current, batteries, etc.) to provide power to the emitter 402.
[00076] In one or more embodiments, the electromagnetic field emitter 402
comprises
several coils (e.g., at least three coils positioned perpendicular to each
other to produce field in
the x, y and z directions) that generate magnetic fields. This magnetic field
is used to establish a
coordinate space. This allows the system to map a position of the sensors in
relation to the
known magnetic field, and helps determine a position and/or orientation of the
sensors. In one or
more embodiments, the electromagnetic sensors 404a, 404b, etc. may be attached
to one or more
real objects. The electromagnetic sensors 404 may comprise smaller coils in
which current may
be induced through the emitted electromagnetic field. Generally the "sensor"
components (404)
may comprise small coils or loops, such as a set of three differently-oriented
(i.e., such as
orthogonally oriented relative to each other) coils coupled together within a
small structure such
as a cube or other container, that are positioned/oriented to capture incoming
magnetic flux from
the magnetic field emitted by the emitter (402), and by comparing currents
induced through these
coils, and knowing the relative positioning and orientation of the coils
relative to each other,
relative position and orientation of a sensor relative to the emitter may be
calculated.
[00077] One or more parameters pertaining to a behavior of the coils and
inertial
measurement unit ("IMU") components operatively coupled to the electromagnetic
tracking
sensors may be measured to detect a position and/or orientation of the sensor
(and the object to
which it is attached to) relative to a coordinate system to which the
electromagnetic field emitter
is coupled. Of course this coordinate system may be translated into a world
coordinate system,
in order to determine a location or pose of the electromagnetic field emitter
in the real world. In
one or more embodiments, multiple sensors may be used in relation to the
electromagnetic
emitter to detect a position and orientation of each of the sensors within the
coordinate space.
17

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
[00078] It should be appreciated that in some embodiments, head pose may
already be
known based on sensors on the headmounted component of the AR system, and SLAM
analysis
performed based on sensor data and image data captured through the headmounted
AR system.
However, it may be important to know a position of the user's hand (e.g., a
handheld component
like a totem, etc.) relative to the known head pose. In other words, it may be
important to know
a hand pose relative to the head pose. Once the relationship between the head
(assuming the
sensors are placed on the headmounted component) and hand is known, a location
of the hand
relative to the world (e.g., world coordinates) can be easily calculated.
[00079] The electromagnetic tracking system may provide positions in three
directions
(i.e., X, Y and Z directions), and further in two or three orientation angles.
In one or more
embodiments, measurements of the IMU may be compared to the measurements of
the coil to
determine a position and orientation of the sensors. In one or more
embodiments, both
electromagnetic (EM) data and IMU data, along with various other sources of
data, such as
cameras, depth sensors, and other sensors, may be combined to determine the
position and
orientation. This information may be transmitted (e.g., wireless
communication, Bluetooth, etc.)
to the controller 406. In one or more embodiments, pose (or position and
orientation) may be
reported at a relatively high refresh rate in conventional systems.
Conventionally an
electromagnetic emitter is coupled to a relatively stable and large object,
such as a table,
operating table, wall, or ceiling, and one or more sensors are coupled to
smaller objects, such as
medical devices, handheld gaming components, or the like. Alternatively, as
described below in
reference to Fig. 6, various features of the electromagnetic tracking system
may be employed to
produce a configuration wherein changes or deltas in position and/or
orientation between two
objects that move in space relative to a more stable global coordinate system
may be tracked; in
other words, a configuration is shown in Fig. 6 wherein a variation of an
electromagnetic
tracking system may be utilized to track position and orientation delta
between a head-mounted
component and a hand-held component, while head pose relative to the global
coordinate system
(say of the room environment local to the user) is determined otherwise, such
as by simultaneous
localization and mapping ("SLAM') techniques using outward-capturing cameras
which may be
coupled to the head mounted component of the system.
18

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
[00080] The
controller 406 may control the electromagnetic field generator 402, and may
also capture data from the various electromagnetic sensors 404. It should be
appreciated that the
various components of the system may be coupled to each other through any
electro-mechanical
or wireless/Bluetooth means. The controller 406 may also comprise data
regarding the known
magnetic field, and the coordinate space in relation to the magnetic field.
This information is
then used to detect the position and orientation of the sensors in relation to
the coordinate space
corresponding to the known electromagnetic field.
[00081] One
advantage of electromagnetic tracking systems is that they produce highly
accurate tracking results with minimal latency and high resolution.
Additionally, the
electromagnetic tracking system does not necessarily rely on optical trackers,
and sensors/objects
not in the user's line-of-vision may be easily tracked.
[00082] It
should be appreciated that the strength of the electromagnetic field v drops
as
a cubic function of distance r from a coil transmitter (e.g., electromagnetic
field emitter 402).
Thus, an algorithm may be required based on a distance away from the
electromagnetic field
emitter. The controller 406 may be configured with such algorithms to
determine a position and
orientation of the sensor/object at varying distances away from the
electromagnetic field emitter.
Given the rapid decline of the strength of the electromagnetic field as one
moves farther away
from the electromagnetic emitter, best results, in terms of accuracy,
efficiency and low latency,
may be achieved at closer distances. In typical electromagnetic tracking
systems, the
electromagnetic field emitter is powered by electric current (e.g., plug-in
power supply) and has
sensors located within 20ft radius away from the electromagnetic field
emitter. A shorter radius
between the sensors and field emitter may be more desirable in many
applications, including AR
applications.
[00083] Referring now to Fig. 5, an example flowchart describing a
functioning of a
typical electromagnetic tracking system is briefly described. At 502, a known
electromagnetic
field is emitted. In one or more embodiments, the magnetic field emitter may
generate magnetic
fields, and each coil may generate an electric field in one direction (e.g.,
x, y or z). The magnetic
fields may be generated with an arbitrary waveform. In one or more
embodiments, each of the
axes may oscillate at a slightly different frequency. At 504, a coordinate
space corresponding to
the electromagnetic field may be determined. For example, the controller 406
of Fig. 4 may
19

CA 03011377 2018-07-12
WO 2017/136833 PCT/1JS2017/016722
automatically determine a coordinate space around the emitter based on the
electromagnetic
field. At 506, a behavior of the coils at the sensors (which may be attached
to a known object)
may be detected. For example, a current induced at the coils may be
calculated. In other
embodiments, a rotation of coils, or any other quantifiable behavior may be
tracked and
measured. At 508, this behavior may be used to detect a position and
orientation of the sensor(s)
and/or known object. For example, the controller 406 may consult a mapping
table that
correlates a behavior of the coils at the sensors to various positions or
orientations. Based on
these calculations, the position in the coordinate space along with the
orientation of the sensors
may be determined. In some embodiments, the pose/location information may be
determined at
the sensors. In other embodiment, the sensors communicate data detected at the
sensors to the
controller, and the controller may consult the mapping table to determined
pose information
relative to the known magnetic field (e.g., coordinates relative to the
handheld component).
[00084] In the context of AR systems, one or more components of the
electromagnetic
tracking system may need to be modified to facilitate accurate tracking of
mobile components.
As described above, tracking the user's head pose and orientation is crucial
in many AR
applications. Accurate determination of the user's head pose and orientation
allows the AR
system to display the right virtual content to the user. For example, the
virtual scene may
comprise a monster hiding behind a real building. Depending on the pose and
orientation of the
user's head in relation to the building, the view of the virtual monster may
need to be modified
such that a realistic AR experience is provided. Or, a position and/or
orientation of a totem,
haptic device or some other means of interacting with a virtual content may be
important in
enabling the AR user to interact with the AR system. For example, in many
gaming
applications, the AR system must detect a position and orientation of a real
object in relation to
virtual content. Or, when displaying a virtual interface, a position of a
totem, user's hand, haptic
device or any other real object configured for interaction with the AR system
must be known in
relation to the displayed virtual interface in order for the system to
understand a command, etc.
Conventional localization methods including optical tracking and other methods
are typically
plagued with high latency and low resolution problems, which makes rendering
virtual content
challenging in many augmented reality applications.

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
[00085] In one or more embodiments, the electromagnetic tracking system,
discussed in
relation to Figs. 4 and 5 may be adapted to the AR system to detect position
and orientation of
one or more objects in relation to an emitted electromagnetic field. Typical
electromagnetic
systems tend to have a large and bulky electromagnetic emitters (e.g., 402 in
Fig. 4), which is
problematic for AR devices. However, smaller electromagnetic emitters (e.g.,
in the millimeter
range) may be used to emit a known electromagnetic field in the context of the
AR system.
[00086] Referring now to Fig. 6, an electromagnetic tracking system may be
incorporated
with an AR system as shown, with an electromagnetic field emitter 602
incorporated as part of a
hand-held controller 606. In one or more embodiments, the hand-held controller
may be a totem
to be used in a gaming scenario. In other embodiments, the hand-held
controller may be a haptic
device. In yet other embodiments, the electromagnetic field emitter may simply
be incorporated
as part of the belt pack 70. The hand-held controller 606 may comprise a
battery 610 or other
power supply that powers that electromagnetic field emitter 602. It should be
appreciated that
the electromagnetic field emitter 602 may also comprise or be coupled to an
IMU 650
component configured to assist in determining positioning and/or orientation
of the
electromagnetic field emitter 602 relative to other components. This may be
especially
important in cases where both the field emitter 602 and the sensors (604) are
mobile. Placing
the electromagnetic field emitter 602 in the hand-held controller rather than
the belt pack, as
shown in the embodiment of Fig. 6, ensures that the electromagnetic field
emitter is not
competing for resources at the belt pack, but rather uses its own battery
source at the hand-held
controller 606.
[00087] In one or more embodiments, the electromagnetic sensors (604) may
be placed on
one or more locations on the user's headset (58), along with other sensing
devices such as one or
more IMUs or additional magnetic flux capturing coils (608). For example, as
shown in Fig. 6,
sensors (604, 608) may be placed on either side of the head set (58). Since
these sensors (604,
608) are engineered to be rather small (and hence may be less sensitive, in
some cases), having
multiple sensors may improve efficiency and precision.
[00088] In one or more embodiments, one or more sensors may also be placed
on the belt
pack (620) or any other part of the user's body. The sensors (604, 608) may
communicate
wirelessly or through Bluetooth to a computing apparatus (607, e.g., the
controller) that
21

CA 03011377 2018-07-12
W02017/136833 PCT/US2017/016722
determines a pose and orientation of the sensors (604, 608) (and the AR
headset (58) to which
they are attached in relation to the known magnetic field emitted by the
electromagnetic filed
emitter (602)). In one or more embodiments, the computing apparatus (607) may
reside at the
belt pack (620). In other embodiments, the computing apparatus (607) may
reside at the headset
(58) itself, or even the hand-held controller (606). The computing apparatus
(607) may receive
the measurements of the sensors (604, 608), and determine a position and
orientation of the
sensors (604, 608) in relation to the known electromagnetic field emitted by
the electromagnetic
filed emitter (602).
[00089] The computing apparatus (607) may in turn comprise a mapping
database (632;
e.g., passable world model, coordinate space, etc.) to detect pose, to
determine the coordinates of
real objects and virtual objects, and may even connect to cloud resources
(630) and the passable
world model, in one or more embodiments. A mapping database (632) may be
consulted to
determine the location coordinates of the sensors (604, 608). The mapping
database (632) may
reside in the belt pack (620) in some embodiments. In the embodiment depicted
in Fig. 6, the
mapping database (632) resides on a cloud resource (630). The computing
apparatus (607)
communicates wirelessly to the cloud resource (630). The determined pose
information in
conjunction with points and images collected by the AR system may then be
communicated to
the cloud resource (630), and then be added to the passable world model (634).
[00090] As described above, conventional electromagnetic emitters may be
too bulky for
AR devices. Therefore the electromagnetic field emitter may be engineered to
be compact, using
smaller coils compared to traditional systems. However, given that the
strength of the
electromagnetic field decreases as a cubic function of the distance away from
the field emitter, a
shorter radius between the electromagnetic sensors 604 and the electromagnetic
field emitter 602
(e.g., about 3-3.5 ft.) may reduce power consumption when compared to
conventional systems
such as the one detailed in Fig. 4.
[00091] This aspect may either be utilized to prolong the life of the
battery 610 that may
power the controller 606 and the electromagnetic field emitter 602, in one or
more embodiments.
Or, in other embodiments, this aspect may be utilized to reduce the size of
the coils generating
the magnetic field at the electromagnetic field emitter 602. However, in order
to get the same
22

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
strength of magnetic field, the power may be need to be increased. This allows
for a compact
electromagnetic field emitter unit 602 that may fit compactly at the hand-held
controller 606.
[00092] Several other changes may be made when using the electromagnetic
tracking
system for AR devices. Although this pose reporting rate is rather good, AR
systems may
require an even more efficient pose reporting rate. To this end, IMU-based
pose tracking may be
used in the sensors. Crucially, the IMUs must remain as stable as possible in
order to increase an
efficiency of the pose detection process. The IMUs may be engineered such that
they remain
stable up to 50-100 milliseconds. It should be appreciated that some
embodiments may utilize
an outside pose estimator module (i.e., IMUs may drift over time) that may
enable pose updates
to be reported at a rate of 10-20 Hz. By keeping the IMUs stable at a
reasonable rate, the rate of
pose updates may be dramatically decreased to 10-20Hz (as compared to higher
frequencies in
conventional systems).
[00093] If
the electromagnetic tracking system can be run at a 10% duty cycle (e.g., only
pinging for ground truth every 100 milliseconds), this would be another way to
save power at the
AR system. This would mean that the electromagnetic tracking system wakes up
every 10
milliseconds out of every 100 milliseconds to generate a pose estimate. This
directly translates
to power consumption savings, which may, in turn, affect size, battery life
and cost of the AR
device.
[00094] In
one or more embodiments, this reduction in duty cycle may be strategically
utilized by providing two hand-held controllers (not shown) rather than just
one. For example,
the user may be playing a game that requires two totems, etc. Or, in a multi-
user game, two
users may have their own totems/hand-held controllers to play the game. When
two controllers
(e.g., symmetrical controllers for each hand) are used rather than one, the
controllers may operate
at offset duty cycles. The
same concept may also be applied to controllers utilized by two
different users playing a multi-player game, for example.
[00095]
Referring now to Fig. 7, an example flow chart describing the electromagnetic
tracking system in the context of AR devices is described. At 702, the hand-
held controller emits
a magnetic field. At 704, the electromagnetic sensors (placed on headset, belt
pack, etc.) detect
the magnetic field. At 706, a position and orientation of the headset/belt is
determined based on
23

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
a behavior of the coils/IMUs at the sensors. At 708, the pose information is
conveyed to the
computing apparatus (e.g., at the belt pack or headset). At 710, optionally, a
mapping database
(e.g., passable world model) may be consulted to correlate the real world
coordinates with the
virtual world coordinates. At 712, virtual content may be delivered to the
user at the AR headset.
It should be appreciated that the flowchart described above is for
illustrative purposes only, and
should not be read as limiting.
[00096] Advantageously, using an electromagnetic tracking system similar
to the one
outlined in Fig. 6 enables pose tracking (e.g., head position and orientation,
position and
orientation of totems, and other controllers). This allows the AR system to
project virtual
content with a higher degree of accuracy, and very low latency when compared
to optical
tracking techniques.
[00097] Referring to Figure 8, a system configuration is illustrated
wherein featuring
many sensing components. A head mounted wearable component (58) is shown
operatively
coupled (68) to a local processing and data module (70), such as a belt pack,
here using a
physical multicore lead which also features a control and quick release module
(86) as described
below in reference to Figs. 9A-9F. The local processing and data module (70)
is operatively
coupled (100) to a hand held component (606), here by a wireless connection
such as low power
Bluetooth; the hand held component (606) may also be operatively coupled (94)
directly to the
head mounted wearable component (58), such as by a wireless connection such as
low power
Bluetooth. Generally where IMU data is passed to coordinate pose detection of
various
components, a high-frequency connection is desirable, such as in the range of
hundreds or
thousands of cycles/second or higher; tens of cycles per second may be
adequate for
electromagnetic localization sensing, such as by the sensor (604) and
transmitter (602) pairings.
Also shown is a global coordinate system (10), representative of fixed objects
in the real world
around the user, such as a wall (8). Cloud resources (46) also may be
operatively coupled (42,
40, 88, 90) to the local processing and data module (70), to the head mounted
wearable
component (58), to resources which may be coupled to the wall (8) or other
item fixed relative to
the global coordinate system (10), respectively. The resources coupled to the
wall (8) or having
known positions and/or orientations relative to the global coordinate system
(10) may include a
WiFi transceiver (114), an electromagnetic emitter (602) and/or receiver
(604), a beacon or
24

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
reflector (112) configured to emit or reflect a given type of radiation, such
as an infrared LED
beacon, a cellular network transceiver (110), a RADAR emitter or detector
(108), a LIDAR
emitter or detector (106), a GPS transceiver (118), a poster or marker having
a known detectable
pattern (122), and a camera (124). The head mounted wearable component (58)
features similar
components, as illustrated, in addition to lighting emitters (130) configured
to assist the camera
(124) detectors, such as infrared emitters (130) for an infrared camera (124);
also featured on the
head mounted wearable component (58) are one or more strain gauges (116),
which may be
fixedly coupled to the frame or mechanical platform of the head mounted
wearable component
(58) and configured to determine deflection of such platform in between
components such as
electromagnetic receiver sensors (604) or display elements (62), wherein it
may be valuable to
understand if bending of the platform has occurred, such as at a thinned
portion of the platform,
such as the portion above the nose on the eyeglasses-like platform depicted in
Figure 8. The
head mounted wearable component (58) also features a processor (128) and one
or more IMUs
(102). Each of the components preferably are operatively coupled to the
processor (128). The
hand held component (606) and local processing and data module (70) are
illustrated featuring
similar components. As shown in Figure 8, with so many sensing and
connectivity means, such
a system is likely to be heavy, power hungry, large, and relatively expensive.
However, for
illustrative purposes, such a system may be utilized to provide a very high
level of connectivity,
system component integration, and position/orientation tracking. For example,
with such a
configuration, the various main mobile components (58, 70, 606) may be
localized in terms of
position relative to the global coordinate system using WiFi, GPS, or Cellular
signal
triangulation; beacons, electromagnetic tracking (as described above), RADAR,
and LIDIR
systems may provide yet further location and/or orientation information and
feedback. Markers
and cameras also may be utilized to provide further information regarding
relative and absolute
position and orientation. For example, the various camera components (124),
such as those
shown coupled to the head mounted wearable component (58), may be utilized to
capture data
which may be utilized in simultaneous localization and mapping protocols, or
"SLAM", to
determine where the component (58) is and how it is oriented relative to other
components.
[00098] Referring to Figs. 9A-9F, various aspects of the control and quick
release module
(86) are depicted. Referring to Fig. 9A, two outer housing components are
coupled together
using a magnetic coupling configuration which may be enhanced with mechanical
latching.

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
Buttons (136) for operation of the associated system may be included. Fig. 9B
illustrates a
partial cutaway view with the buttons (136) and underlying top printed circuit
board (138)
shown. Referring to Fig. 9C, with the buttons (136) and underlying top printed
circuit board
(138) removed, a female contact pin array (140) is visible. Referring to Fig.
9D, with an
opposite portion of housing (134) removed, the lower printed circuit board
(142) is visible. With
the lower printed circuit board (142) removed, as shown in Fig. 9E, a male
contact pin array
(144) is visible. Referring to the cross-sectional view of Fig. 9F, at least
one of the male pins or
female pins are configured to be spring-loaded such that they may be depressed
along each pin's
longitudinal axis; the pins may be termed "pogo pins" and generally comprise a
highly
conductive material, such as copper or gold. When assembled, the illustrated
configuration
mates 46 male pins with female pins, and the entire assembly may be quick-
release decoupled in
half by manually pulling it apart and overcoming a magnetic interface (146)
load which may be
developed using north and south magnets oriented around the perimeters of the
pin arrays (140,
144), In one embodiment, an approximate 2 kg load from compressing the 46 pogo
pins is
countered with a closure maintenance force of about 4 kg. The pins in the
array may be
separated by about 1.3mm, and the pins may be operatively coupled to
conductive lines of
various types, such as twisted pairs or other combinations to support USB 3.0,
HDMI 2.0, I2S
signals, GPIO, and MIPI configurations, and high current analog lines and
grounds configured
for up to about 4 amps /5 volts in one embodiment
[00099] Referring to Fig. 10, it is helpful to have a minimized
component/feature set to be
able to minimize the weight and bulk of the various components, and to arrive
at a relatively slim
head mounted component, for example, such as that (58) featured in Fig. 10.
Thus various
permutations and combinations of the various components shown in Figure 8 may
be utilized.
[000100] Referring to Fig. 11A, an electromagnetic sensing coil assembly
(604, i.e., 3
individual coils coupled to a housing) is shown coupled to a head mounted
component (58);
such a configuration adds additional geometry to the overall assembly which
may not be
desirable. Referring to Fig. 11B, rather than housing the coils in a box or
single housing as in the
configuration of Fig. 11A, the individual coils may be integrated into the
various structures of
the head mounted component (58), as shown in Fig. 11B. For example, x-axis
coil (148) may be
placed in one portion of the head mounted component (58) (e.g., the center of
the frame).
26

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
Similarly, the y-axis coil (150) may be placed in another portion of the head
mounted component
(58; e.g., either bottom side of the frame). Similarly, the z-axis coil (152)
may be placed in yet
another portion of the head mounted component (58) (e.g., either top side of
the frame).
[000101] .. Figs. 12A-12E illustrate various configurations for featuring a
ferrite core coupled
to an electromagnetic sensor to increase field sensitivity. Referring to Fig.
12A, the ferrite core
may be a solid cube (1202). Although the solid cube (1202) may be most
effective in increasing
field sensitivity, it may also be the most heavy when compared to the
remaining configurations
depicted in Figs. 12B-12E. Referring to Fig. 12B, a plurality of ferrite disks
(1204) may be
coupled to the electromagnetic sensor. Similarly, referring to Fig. 12C, a
solid cube with a one
axis air core (1206) may be coupled to the electromagnetic sensor. As shown in
Fig. 12C, an
open space (i.e., the air core) may be formed in the solid cube along one
axis. This may decrease
the weight of the cube, while still providing the necessary field sensitivity.
In yet another
embodiment, referring to Fig. 12D, a solid cube with a three axis air core
(1208) may be coupled
to the electromagnetic sensor. In this configuration, the solid cube is
hollowed out along all
three axes, thereby decreasing the weight of the cube considerably. Referring
to Fig. 12E, ferrite
rods with plastic housing (1210) may also be coupled to the electromagnetic
sensor. It should be
appreciated that the embodiments of Figs. 12B-12E are lighter in weight than
the solid core
configuration of Fig. 12A and may be utilized to save mass, as discussed
above.
[000102] Referring to Figs. 13A-13C, time division multiplexing ("TDM") may
be utilized
to save mass as well. For example, referring to Fig. 13A, a conventional local
data processing
configuration is shown for a 3-coil electromagnetic receiver sensor, wherein
analog currents
come in from each of the X, Y, and Z coils (1302, 1304, 1306), go into a pre-
amplifier (1308),
go into a band pass filter (1310), a PA (1312), through analog-to-digital
conversion (1314), and
ultimately to a digital signal processor (1316). Referring to the transmitter
configuration of Fig.
13B, and the receiver configuration of Fig. 13C, time division multiplexing
may be utilized to
share hardware, such that each coil sensor chain doesn't require its own
amplifiers, etc. This
may be achieved through a TDM switch 1320, as shown in Fig. 13B, which
facilitates processing
of signals to and from multiple transmitters and receivers using the same set
of hardware
components (amplifiers, etc.) In addition to removing sensor housings, and
multiplexing to save
on hardware overhead, signal to noise ratios may be increased by having more
than one set of
27

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
electromagnetic sensors, each set being relatively small relative to a single
larger coil set; also
the low-side frequency limits, which generally are needed to have multiple
sensing coils in close
proximity, may be improved to facilitate bandwidth requirement improvements.
Also, there is a
tradeoff with multiplexing, in that multiplexing generally spreads out the
reception of
radiofrequency signals in time, which results in generally dirtier signals;
thus larger coil
diameter may be required for multiplexed systems. For example, where a
multiplexed system
may require a 9mm-side dimension cubic coil sensor box, a nonmultiplexed
system may only
require a 7mm-side dimension cubic coil box for similar performance; thus
there are tradeoffs in
minimizing geometry and mass.
[000103] In another embodiment wherein a particular system component, such
as a head
mounted component (58) features two or more electromagnetic coil sensor sets,
the system may
be configured to selectively utilize the sensor and emitter pairing that are
closest to each other to
optimize the performance of the system.
[000104] Referring to Figure 14, in one embodiment, after a user powers up
his or her
wearable computing system (160), a head mounted component assembly may capture
a
combination of IMU and camera data (the camera data being used, for example,
for SLAM
analysis, such as at the belt pack processor where there may be more raw
processing horsepower
present) to determine and update head pose (i.e., position and orientation)
relative to a real world
global coordinate system (162). The user may also activate a handheld
component to, for
example, play an augmented reality game (164), and the handheld component may
comprise an
electromagnetic transmitter operatively coupled to one or both of the belt
pack and head mounted
component (166). One or more electromagnetic field coil receiver sets (i.e., a
set being 3
differently-oriented individual coils) coupled to the head mounted component
to capture
magnetic flux from the transmitter, which may be utilized to determine
positional or orientational
difference (or "delta"), between the head mounted component and handheld
component (168).
The combination of the head mounted component assisting in determining pose
relative to the
global coordinate system, and the hand held assisting in determining relative
location and
orientation of the handheld relative to the head mounted component, allows the
system to
generally determine where each component is relative to the global coordinate
system, and thus
the user's head pose, and handheld pose may be tracked, preferably at
relatively low latency, for
28

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
presentation of augmented reality image features and interaction using
movements and rotations
of the handheld component (170).
[000105] Referring to Figure 15, an embodiment is illustrated that is
somewhat similar to
that of Figure 14, with the exception that the system has many more sensing
devices and
configurations available to assist in determining pose of both the head
mounted component (172)
and a hand held component (176, 178), such that the user's head pose, and
handheld pose may be
tracked, preferably at relatively low latency, for presentation of augmented
reality image features
and interaction using movements and rotations of the handheld component (180).
[000106] Specifically, after a user powers up his or her wearable computing
system (160), a
head mounted component captures a combination of IMU and camera data for SLAM
analysis in
order to determined and update head pose relative a real-world global
coordinate system. The
system may be further configured to detect presence of other localization
resources in the
environment, like Wi-Fi, cellular, beacons, RADAR, LIDAR, GPS, markers, and/or
other
cameras which may be tied to various aspects of the global coordinate system,
or to one or more
movable components (172).
[000107] The user may also activate a handheld component to, for example,
play an
augmented reality game (174), and the handheld component may comprise an
electromagnetic
transmitter operatively coupled to one or both of the belt pack and head
mounted component
(176). Other localization resources may also be similarly utilized. One or
more electromagnetic
field coil receiver sets (e.g., a set being 3 differently-oriented individual
coils) coupled to the
head mounted component may be used to capture magnetic flux from the
electromagnetic
transmitter. This captured magnetic flux may be utilized to determine
positional or orientational
difference (or "delta"), between the head mounted component and handheld
component (178).
[000108] Thus, the user's head pose and the handheld pose may be tracked at
relatively low
latency for presentation of AR content and/or for interaction with the AR
system using
movement or rotations of the handheld component (180).
[000109] Referring to Figures 16A and 16B, various aspects of a
configuration similar to
that of Figure 8 are shown. The configuration of Figure 16A differs from that
of Figure 8 in that
in addition to a LIDAR (106) type of depth sensor, the configuration of Figure
16A features a
29

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
generic depth camera or depth sensor (154) for illustrative purposes, which
may, for example, be
either a stereo triangulation style depth sensor (such as a passive stereo
depth sensor, a texture
projection stereo depth sensor, or a structured light stereo depth sensor) or
a time of flight style
depth sensor (such as a LIDAR depth sensor or a modulated emission depth
sensor); further, the
configuration of Figure 16A has an additional forward facing "world" camera
(124, which may
be a grayscale camera, having a sensor capable of 720p range resolution) as
well as a relatively
high-resolution "picture camera" (156, which may be a full color camera,
having a sensor
capable of 2 megapixel or higher resolution, for example). Figure 16B shows a
partial
orthogonal view of the configuration of Figure 16A for illustrative purposes,
as described further
below in reference to Figure 16B.
[000110] Referring back to Figure 16A and the stereo vs time-of-flight
style depth sensors
mentioned above, each of these depth sensor types may be employed with a
wearable computing
solution as disclosed herein, although each has various advantages and
disadvantages. For
example, many depth sensors have challenges with black surfaces and shiny or
reflective
surfaces. Passive stereo depth sensing is a relatively simplistic way of
getting triangulation for
calculating depth with a depth camera or sensor, but it may be challenged if a
wide field of view
("FOV") is required, and may require relatively significant computing
resource; further, such a
sensor type may have challenges with edge detection, which may be important
for the particular
use case at hand. Passive stereo may have challenges with textureless walls,
low light situations,
and repeated patterns. Passive stereo depth sensors are available from
manufacturers such as
Intel (RTM) and Aquifi (RTM). Stereo with texture projection (also known as
"active stereo") is
similar to passive stereo, but a texture projector broadcasts a projection
pattern onto the
environment, and the more texture that is broadcasted, the more accuracy is
available in
triangulating for depth calculation. Active stereo may also require relatively
high compute
resource, present challenges when wide FOV is required, and be somewhat
suboptimal in
detecting edges, but it does address some of the challenges of passive stereo
in that it is effective
with textureless walls, is good in low light, and generally does not have
problems with repeating
patterns. Active stereo depth sensors are available from manufacturers such as
Intel (RTM) and
Aquifi (RTM). Stereo with structured light, such as the systems developed by
Primesense, Inc.
(RTM) and available under the tradename Kinect (RTM), as well as the systems
available from
Mantis Vision, Inc. (RTM), generally utilize a single camera/projector
pairing, and the projector

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
is specialized in that it is configured to broadcast a pattern of dots that is
known apriori. In
essence, the system knows the pattern that is broadcasted, and it knows that
the variable to be
determined is depth. Such configurations may be relatively efficient on
compute load, and may
be challenged in wide FOV requirement scenarios as well as scenarios with
ambient light and
patterns broadcasted from other nearby devices, but can be quite effective and
efficient in many
scenarios. With modulated time of flight type depth sensors, such as those
available from PMD
Technologies (RTM), A.G. and SoftKinetic Inc. (RTM), an emitter may be
configured to send
out a wave, such as a sine wave, of amplitude modulated light; a camera
component, which may
be positioned nearby or even overlapping in some configurations, receives a
returning signal on
each of the pixels of the camera component and depth mapping may be
determined/calculated.
Such configurations may be relatively compact in geometry, high in accuracy,
and low in
compute load, but may be challenged in terms of image resolution (such as at
edges of objects),
multi-path errors (such as wherein the sensor is aimed at a reflective or
shiny corner and the
detector ends up receiving more than one return path, such that there is some
depth detection
aliasing. Direct time of flight sensors, which also may be referred to as the
aforementioned
LIDAR, are available from suppliers such as LuminAR (RTM) and Advanced
Scientific
Concepts, Inc. (RTM). With these time of flight configurations, generally a
pulse of light (such
as a picosecond, nanosecond, or femtosecond long pulse of light) is sent out
to bathe the world
oriented around it with this light ping; then each pixel on a camera sensor
waits for that pulse to
return, and knowing the speed of light, the distance at each pixel may be
calculated. Such
configurations may have many of the advantages of modulated time of flight
sensor
configurations (no baseline, relatively wide FOV, high accuracy, relatively
low compute load,
etc.) and also relatively high framerates, such as into the tens of thousands
of Hertz. They may
also be relatively expensive, have relatively low resolution, be sensitive to
bright light, and
susceptible to multi-path errors; they may also be relatively large and heavy.
[000111] Referring to Figure 16B, a partial top view is shown for
illustrative purposes
featuring a user's eyes (12) as well as cameras (14, such as infrared cameras)
with fields of view
(28, 30) and light or radiation sources (16, such as infrared) directed toward
the eyes (12) to
facilitate eye tracking, observation, and/or image capture. The three outward-
facing world-
capturing cameras (124) are shown with their FOVs (18, 20, 22), as is the
depth camera (154)
and its FOV (24), and the picture camera (156) and its FOV (26). The depth
information
31

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
garnered from the depth camera (154) may be bolstered by using the overlapping
FOVs and data
from the other forward-facing cameras. For example, the system may end up with
something
like a sub-VGA image from the depth sensor (154), a 720p image from the world
cameras (124),
and occasionally a 2 megapixel color image from the picture camera (156). Such
a configuration
has five cameras sharing common FOV, three of them with heterogeneous visible
spectrum
images, one with color, and the third one with relatively low-resolution
depth. The system may
be configured to do a segmentation in the grayscale and color images, fuse
those images and
make a relatively high-resolution image from them, get some stereo
correspondences, use the
depth sensor to provide hypotheses about stereo depth, and use stereo
correspondences to get a
more refined depth map, which may be significantly better than what was
available from the
depth sensor only. Such processes may be run on local mobile processing
hardware, or can run
using cloud computing resources, perhaps along with the data from others in
the area (such as
two people sitting across a table from each other nearby), and end up with
quite a refined
mapping. In another embodiment, all of the above sensors may be combined into
one integrated
sensor to accomplish such functionality.
[000112] Various exemplary embodiments of the invention are described
herein. Reference
is made to these examples in a non-limiting sense. They are provided to
illustrate more broadly
applicable aspects of the invention. Various changes may be made to the
invention described and
equivalents may be substituted without departing from the true spirit and
scope of the invention.
In addition, many modifications may be made to adapt a particular situation,
material,
composition of matter, process, process act(s) or step(s) to the objective(s),
spirit or scope of the
present invention. Further, as will be appreciated by those with skill in the
art that each of the
individual variations described and illustrated herein has discrete components
and features which
may be readily separated from or combined with the features of any of the
other several
embodiments without departing from the scope or spirit of the present
inventions. All such
modifications are intended to be within the scope of claims associated with
this disclosure.
[000113] The invention includes methods that may be performed using the
subject devices.
The methods may comprise the act of providing such a suitable device. Such
provision may be
performed by the end user. In other words, the "providing" act merely requires
the end user
obtain, access, approach, position, set-up, activate, power-up or otherwise
act to provide the
32

CA 03011377 2018-07-12
WO 2017/136833 PCT/1JS2017/016722
requisite device in the subject method. Methods recited herein may be carried
out in any order of
the recited events which is logically possible, as well as in the recited
order of events.
[000114] Exemplary aspects of the invention, together with details
regarding material
selection and manufacture have been set forth above. As for other details of
the present
invention, these may be appreciated in connection with the above-referenced
patents and
publications as well as generally known or appreciated by those with skill in
the art. The same
may hold true with respect to method-based aspects of the invention in terms
of additional acts as
commonly or logically employed.
[000115] In addition, though the invention has been described in reference
to several
examples optionally incorporating various features, the invention is not to be
limited to that
which is described or indicated as contemplated with respect to each variation
of the invention.
Various changes may be made to the invention described and equivalents
(whether recited herein
or not included for the sake of some brevity) may be substituted without
departing from the true
spirit and scope of the invention. In addition, where a range of values is
provided, it is
understood that every intervening value, between the upper and lower limit of
that range and any
other stated or intervening value in that stated range, is encompassed within
the invention.
[000116] Also, it is contemplated that any optional feature of the
inventive variations
described may be set forth and claimed independently, or in combination with
any one or more
of the features described herein. Reference to a singular item, includes the
possibility that there
are plural of the same items present. More specifically, as used herein and in
claims associated
hereto, the singular forms "a," "an," "said," and "the" include plural
referents unless the
specifically stated otherwise. In other words, use of the articles allow for
"at least one" of the
subject item in the description above as well as claims associated with this
disclosure. It is
further noted that such claims may be drafted to exclude any optional element.
As such, this
statement is intended to serve as antecedent basis for use of such exclusive
terminology as
"solely," "only" and the like in connection with the recitation of claim
elements, or use of a
"negative" limitation.
[000117] Without the use of such exclusive terminology, the term
"comprising" in claims
associated with this disclosure shall allow for the inclusion of any
additional element--
33

CA 03011377 2018-07-12
WO 2017/136833 PCT/US2017/016722
irrespective of whether a given number of elements are enumerated in such
claims, or the
addition of a feature could be regarded as transforming the nature of an
element set forth in such
claims. Except as specifically defined herein, all technical and scientific
terms used herein are to
be given as broad a commonly understood meaning as possible while maintaining
claim validity.
[000118] The breadth of the present invention is not to be limited to the
examples provided
and/or the subject specification, but rather only by the scope of claim
language associated with
this disclosure.
34

A single figure which represents the drawing illustrating the invention.

For a clearer understanding of the status of the application/patent presented on this page, the site Disclaimer , as well as the definitions for Patent , Administrative Status , Maintenance Fee  and Payment History  should be consulted.

Admin Status

Title Date
Forecasted Issue Date Unavailable
(86) PCT Filing Date 2017-02-06
(87) PCT Publication Date 2017-08-10
(85) National Entry 2018-07-12

Abandonment History

There is no abandonment history.

Maintenance Fee

Description Date Amount
Last Payment 2020-01-23 $100.00
Next Payment if small entity fee 2021-02-08 $50.00
Next Payment if standard fee 2021-02-08 $100.00

Note : If the full payment has not been received on or before the date indicated, a further fee may be required which may be one of the following

  • the reinstatement fee set out in Item 7 of Schedule II of the Patent Rules;
  • the late payment fee set out in Item 22.1 of Schedule II of the Patent Rules; or
  • the additional fee for late payment set out in Items 31 and 32 of Schedule II of the Patent Rules.

Payment History

Fee Type Anniversary Year Due Date Amount Paid Paid Date
Filing $400.00 2018-07-12
Maintenance Fee - Application - New Act 2 2019-02-06 $100.00 2018-07-12
Maintenance Fee - Application - New Act 3 2020-02-06 $100.00 2020-01-23
Current owners on record shown in alphabetical order.
Current Owners on Record
MAGIC LEAP, INC.
Past owners on record shown in alphabetical order.
Past Owners on Record
None
Past Owners that do not appear in the "Owners on Record" listing will appear in other documentation within the application.

To view selected files, please enter reCAPTCHA code :




Filter Download Selected in PDF format (Zip Archive)
Document
Description
Date
(yyyy-mm-dd)
Number of pages Size of Image (KB)
Abstract 2018-07-12 1 72
Claims 2018-07-12 3 81
Drawings 2018-07-12 24 486
Description 2018-07-12 34 1,847
Representative Drawing 2018-07-12 1 26
Patent Cooperation Treaty (PCT) 2018-07-12 1 38
International Search Report 2018-07-12 1 51
National Entry Request 2018-07-12 4 143
Cover Page 2018-07-27 1 49
Maintenance Fee Payment 2020-01-23 1 52