CV environmental mapping technique for AR (granted).
Embodiments provide for reconciling a first map of an environment created by a first device with a second map of the environment created by a second device by determining a first confidence score for a first location of a given object in the first map; determining a second confidence score for a second location of the given object in the second map; inserting the given object into a reconciled map at a position based on the first confidence score and the second confidence score; anchoring an Augmented Reality object in the reconciled map at coordinates based on the position of the given object; and outputting the reconciled map to an Augmented Reality device.
BACKGROUND(1) Augmented Reality (AR) uses a video device and a display device to display a series of images of the environment to a user that have various virtual objects inserted into appropriate places in the environment. For example, a video device may identify a real-world object of a table, so that a virtual object of a flower vase may be display on the display device as appearing on the table. In another example, a video device may identify a real-world object of a trashcan and overlay an image of a monster, so that a user of the display device is provided an amusing scene of a creature devouring rubbish when the mundane scene of a person placing rubbish into a proper receptacle is plays out. AR can be used for navigational purposes, for games, construction/architectural projects, for educational purposes, and the like.(2) An AR system may use an integrated video and display device or separate video devices and display devices that output the perspective of the video device, and uses the knowledge and perspective of the video device to inform the output of the display device. For example, a headset display may include an outwardly mounted camera as a video device that provides a video feed to one or more display devices positioned in front of a wearer's eyes.SUMMARY(3) The present disclosure provides in one embodiment a method for environmental mapping for augmented reality by reconciling a first environmental map of an environment created by a first device with a secon
1. A method of reconciling a first environmental map of an environment created by a first device with a second environmental map of the environment created by a second device, the method comprising: identifying one real-world object represented with first positional data in the first environmental map and with second positional data in the second environmental map; determining a first confidence score for a first location of the one real-world object in the first environmental map, and a second confidence score for a second location of the one real-world object in the second environmental map; reconciling the first environmental map with the second environmental map into a reconciled environmental map based on the first positional data and the second positional data; anchoring a reconciled AR object associated with the one real-world object in the reconciled environmental map based on the first positional data and the first confidence score relative to the second positional data and the second confidence score; and outputting the reconciled environmental map to an AR device, wherein the reconciled AR object is located closer to the first location than the second location in the reconciled environmental map when the first confidence score is higher than the second confidence score.
7. A method, comprising: constructing, by a first video device, a first map of an environment based on a first field of view of the first video device; retrieving a second map of the environment produced by a second video device based on a second field of view of the second video device, different from the first field of view; identifying, by the first video device, a third field of view in the environment for a third device of an AR (Augmented Reality) device, wherein the third field of view is different from both the first field of view and the second field of view; reconciling the first map with the second map to produce a reconciled map, wherein objects identified at a shared position in the environment in both the first map and the second map are included in the reconciled map at the shared position, and objects identified at different positions in the first map and the second map are included in the reconciled map at a given position specified in one of the first map and the second map based on which of the first map and the second map is associated with a higher confidence score for the given position; anchoring an AR object at a given position in the reconciled map; and in response to the third field of view including the given position, outputting the AR object in a video feed produced by the AR device.
16. A method of reconciling a first environmental map of an environment created by a first video device with a second environmental map of the environment created by a second video device, the method comprising: receiving a video feed of the environment from the first video device having a real-world object in a field of view of the first video device, the video feed providing first positional data on the real-world object, wherein the first positional data are associated with a first confidence score and a first location; determining second positional data for the real-world object from the second environmental map, wherein the second positional data are associated with a second confidence score and a second location, different than the first location; anchoring an Augmented Reality (AR) object that represents the real-world object into a reconciled environmental map at the second position when the first confidence score is lower than the second confidence score; and outputting the video feed for display with the AR object overlaid onto the video feed when the position is in the field of view of the first video device.