Abstract: Techniques include calibrating the user-facing sensors using a calibration target in world space. A calibration target in this case includes an LED panel that is mounted on a linear rail, and a jig for mounting a head-mounted display (HMD) having user-facing sensors such that the user-facing sensors face the LED panel. On the HMD, there are at least two user-facing cameras; an eye-tracking (ET) camera and a face-tracking (FT) camera. There are also a plurality of LEDs associated with an ET camera. In some implementations, the LEDs surround the ET camera. The cameras are calibrated simultaneously—that is, the camera intrinsics and extrinsics relative to a base, i.e., the LED panel in a base position, are determined in a single step after data has been collected. In another, separate step, the ET camera LEDs are calibrated—that is, their positions relative to the ET camera are determined.

Abstract: Repositionable imaging system and method for creating a 3D image of a closed cavity of a patient's anatomy containing the imaging system, estimating characteristics of motion of the system within the cavity, and determining a metric dimension characterizing the cavity without the use of mechanical measurement. The system may include tracking device located externally with respect to the cavity to determine a scale measurement of the system's motion and the structure of the cavity. The system's computer processor is configured to determine triangulated features of the cavity and recover motion scale data with the use of data received from the tracking device. A specific imaging system includes an endoscope (equipped with an electrical coil and complemented with an external electromagnetic tracker).

Abstract: Repositionable imaging system and method for creating a 3D image of a closed cavity of a patient's anatomy containing the imaging system, estimating characteristics of motion of the system within the cavity, and determining a metric dimension characterizing the cavity without the use of mechanical measurement. The system may include tracking device located externally with respect to the cavity to determine a scale measurement of the system's motion and the structure of the cavity. The system's computer processor is configured to determine triangulated features of the cavity and recover motion scale data with the use of data received from the tracking device. A specific imaging system includes an endoscope (equipped with an electrical coil and complemented with an external electromagnetic tracker).