Abstract: A wearable device can include an inward-facing imaging system configured to acquire images of a user's periocular region. The wearable device can determine a relative position between the wearable device and the user's face based on the images acquired by the inward-facing imaging system. The relative position may be used to determine whether the user is wearing the wearable device, whether the wearable device is optimally fit to the user, and/or whether an adjustment to a rendering location of a virtual object can be made to compensate for a deviation of the wearable device from its normal resting position relative to the user's face.

Abstract: A wearable device can include an inward-facing imaging system configured to acquire images of a user's periocular region. The wearable device can determine a relative position between the wearable device and the user's face based on the images acquired by the inward-facing imaging system. The relative position may be used to determine whether the user is wearing the wearable device, whether the wearable device fits the user, and/or whether an adjustment to a rendering location of a virtual object can be made to compensate for a deviation of the wearable device from its normal resting position relative to the user's face.

Abstract: Methods and systems related to computer vision for agricultural applications are disclosed herein. A disclosed method for navigating a robot along a crop row, in which each step is computer-implemented by a navigation system for the robot, includes capturing an image of at least a portion of the crop row, labeling, using a segmentation network, a portion of the image with a label, deriving a navigation path from the portion of the image and the label, generating a control signal for the autonomous navigation system to follow the navigation path, and navigating the robot along the crop row using the control signal.

Abstract: A wearable device can include an inward-facing imaging system configured to acquire images of a user's periocular region. The wearable device can determine a relative position between the wearable device and the user's face based on the images acquired by the inward-facing imaging system. The relative position may be used to determine whether the user is wearing the wearable device, whether the wearable device fits the user, and/or whether an adjustment to a rendering location of a virtual object can be made to compensate for a deviation of the wearable device from its normal resting position relative to the user's face.

Abstract: Example methods and systems for determining 3D scene geometry by projecting patterns of light onto a scene are provided. In an example method, a first projector may project a first random texture pattern having a first wavelength and a second projector may project a second random texture pattern having a second wavelength. A computing device may receive sensor data that is indicative of an environment as perceived from a first viewpoint of a first optical sensor and a second viewpoint of a second optical sensor. Based on the received sensor data, the computing device may determine corresponding features between sensor data associated with the first viewpoint and sensor data associated with the second viewpoint. And based on the determined corresponding features, the computing device may determine an output including a virtual representation of the environment that includes depth measurements indicative of distances to at least one object.

Abstract: Disclosed herein is an augmented reality (AR) system that provides information about purchasing alternatives to a user who is about to purchase an item or product (e.g., a target product) in a physical retail location. In some variations, offers to purchase the product and/or an alternative product are provided by the merchant and/or competitors via the AR system. An offer negotiation server (ONS) aggregates offer data provided various external parties (EPs) and displays these offers to the user as the user is considering the purchase of a target product. In some variations, an AR system may be configured to facilitate the process of purchasing items at a retail location.

Abstract: A wearable device can include an inward-facing imaging system configured to acquire images of a user's periocular region. The wearable device can determine a relative position between the wearable device and the user's face based on the images acquired by the inward-facing imaging system. The relative position may be used to determine whether the user is wearing the wearable device, whether the wearable device fits the user, or whether an adjustment to a rendering location of a virtual object should be made to compensate for a deviation of the wearable device from its normal resting position.

Abstract: Disclosed herein is an augmented reality (AR) system that provides information about purchasing alternatives to a user who is about to purchase an item or product (e.g., a target product) in a physical retail location. In some variations, offers to purchase the product and/or an alternative product are provided by the merchant and/or competitors via the AR system. An offer negotiation server (ONS) aggregates offer data provided various external parties (EPs) and displays these offers to the user as the user is considering the purchase of a target product. In some variations, an AR system may be configured to facilitate the process of purchasing items at a retail location.

Abstract: A wearable device can include an inward-facing imaging system configured to acquire images of a user's periocular region. The wearable device can determine a relative position between the wearable device and the user's face based on the images acquired by the inward-facing imaging system. The relative position may be used to determine whether the user is wearing the wearable device, whether the wearable device fits the user, or whether an adjustment to a rendering location of virtual object should be made to compensate for a deviation of the wearable device from its normal resting position.

Abstract: A wearable device can include an inward-facing imaging system configured to acquire images of a user's periocular region. The wearable device can determine a relative position between the wearable device and the user's face based on the images acquired by the inward-facing imaging system. The relative position may be used to determine whether the user is wearing the wearable device, whether the wearable device fits the user, or whether an adjustment to a rendering location of virtual object should be made to compensate for a deviation of the wearable device from its normal resting position.

Abstract: Systems and methods for registering arbitrary visual features for use as fiducial elements are disclosed. An example method includes aligning a geometric reference object and a visual feature and capturing an image of the reference object and feature. The method also includes identifying, in the image of the object and the visual feature, a set of at least four non-colinear feature points in the visual feature. The method also includes deriving, from the image, a coordinate system using the geometric object. The method also comprises providing a set of measures to each of the points in the set of at least four non-colinear feature points using the coordinate system. The measures can then be saved in a memory to represent the registered visual feature and serve as the basis for using the registered visual feature as a fiducial element.

Abstract: Methods and devices for estimating position of a device within a 3D environment are described. Embodiments of the methods include sequentially receiving multiple image segments forming an image representing a field of view (FOV) comprising a portion of the environment. The image includes multiple sparse points that are identifiable based in part on a corresponding subset of image segments of the multiple image segments. The method also includes sequentially identifying one or more sparse points of the multiple sparse points when each subset of image segments corresponding to the one or more sparse points is received and estimating a position of the device in the environment based on the identified the one or more sparse points.

Abstract: Systems and methods for user guided iterative frame and scene segmentation are disclosed herein. The systems and methods can rely on overtraining a segmentation network on a frame. A disclosed method includes selecting a frame from a scene and generating a frame segmentation using the frame and a segmentation network. The method also includes displaying the frame and frame segmentation overlain on the frame, receiving a correction input on the frame, and training the segmentation network using the correction input. The method includes overtraining the segmentation network for the scene by iterating the above steps on the same frame or a series of frames from the scene.

Abstract: Systems and methods for iris authentication are disclosed. In one aspect, a deep neural network (DNN) with a triplet network architecture can be trained to learn an embedding (e.g., another DNN) that maps from the higher dimensional eye image space to a lower dimensional embedding space. The DNN can be trained with segmented iris images or images of the periocular region of the eye (including the eye and portions around the eye such as eyelids, eyebrows, eyelashes, and skin surrounding the eye). With the triplet network architecture, an embedding space representation (ESR) of a person's eye image can be closer to the ESRs of the person's other eye images than it is to the ESR of another person's eye image. In another aspect, to authenticate a user as an authorized user, an ESR of the user's eye image can be sufficiently close to an ESR of the authorized user's eye image.

Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.

Abstract: Systems and methods for frame and scene segmentation are disclosed herein. One method includes associating a first primary element from a first frame with a background tag, associating a second primary element from the first frame with a subject tag, generating a background texture using the first primary element, generating a foreground texture using the second primary element, and combining the background texture and the foreground texture into a synthesized frame. The method also includes training a segmentation network using the background tag, the foreground tag, and the synthesized frame.

Abstract: Methods and devices for estimating position of a device within a 3D environment are described. Embodiments of the methods include sequentially receiving multiple image segments forming an image representing a field of view (FOV) comprising a portion of the environment. The image includes multiple sparse points that are identifiable based in part on a corresponding subset of image segments of the multiple image segments. The method also includes sequentially identifying one or more sparse points of the multiple sparse points when each subset of image segments corresponding to the one or more sparse points is received and estimating a position of the device in the environment based on the identified the one or more sparse points.

Abstract: A texture projecting light bulb includes an extended light source located within an integrator. The integrator includes at least one aperture configured to allow light to travel out of the interior of the integrator. In various embodiments, the interior of the integrator may be a diffusely reflective surface and the integrator may be configured to produce a uniform light distribution at the aperture to approximate a point source. The integrator may be surrounded by a light bulb enclosure. In various embodiments, the light bulb enclosure may include transparent and opaque regions configured to project a structured pattern of visible and/or infrared light.

Abstract: Systems and methods for registering arbitrary visual features for use as fiducial elements are disclosed. An example method includes aligning a geometric reference object and a visual feature and capturing an image of the reference object and feature. The method also includes identifying, in the image of the object and the visual feature, a set of at least four non-colinear feature points in the visual feature. The method also includes deriving, from the image, a coordinate system using the geometric object. The method also comprises providing a set of measures to each of the points in the set of at least four non-colinear feature points using the coordinate system. The measures can then be saved in a memory to represent the registered visual feature and serve as the basis for using the registered visual feature as a fiducial element.

Abstract: A wearable device can include an inward-facing imaging system configured to acquire images of a user's periocular region. The wearable device can determine a relative position between the wearable device and the user's face based on the images acquired by the inward-facing imaging system. The relative position may be used to determine whether the user is wearing the wearable device, whether the wearable device fits the user, or whether an adjustment to a rendering location of virtual object should be made to compensate for a deviation of the wearable device from its normal resting position.