公开(公告)号：US20230401796A1

公开(公告)日：2023-12-14

申请号：US17893723

申请日：2022-08-23

Applicant: Snap Inc.

Inventor： Georgios Evangelidis ,  Branislav Micusik ,  Jakob Zillner ,  Nathan Jacob Litke

IPC: G06T19/00 ,  G06T19/20 ,  G06V20/20 ,  G06T7/73

CPC classification number: G06T19/006 ,  G06T19/20 ,  G06V20/20 ,  G06T7/74 ,  G06T2207/10028 ,  G06T2207/30244 ,  G06T2219/024

Abstract: A method for aligning coordinate systems from separate augmented reality (AR) devices is described. In one aspect, the method includes generating predicted depths of a first point cloud by applying a pre-trained model to a first single image generated by a first monocular camera of a first augmented reality (AR) device, and first sparse 3D points generated by a first SLAM system at the first AR device, generating predicted depths of a second point cloud by applying the pre-trained model to a second single image generated by a second monocular camera of the second AR device, and second sparse 3D points generated by a second SLAM system at the second AR device, determining a relative pose between the first AR device and the second AR device by registering the first point cloud with the second point cloud.