Abstract: A head-mounted display device (HMD) configured to be worn by a user is provided. The HMD comprises an at least partially see-through display, a front-facing camera operative to capture a first image of a real-world scene, and processing means which is operative to select a calibration object from one or more real-world objects, or parts thereof, which are visible in the first image, and derive a calibration transformation for calculating a display position based on a real-world position, such that a virtual object which is displayed on the display at the display position is aligned with a corresponding real-world object located at the real-world position, as seen by the user.

Abstract: A map processing device obtains images from a camera transported with a mobile device, and detects 2D features in the images. At least some of the 2D features detected in the images are densified to generate a densified set of 2D features. Locations of the densified set of 2D features are determined in 3D space using an image-based localization algorithm. A structure-based map comprising depth information from a depth sensor transported by another mobile device is accessed, wherein the depth information includes a set of data points indicating locations in 3D space corresponding to features in the real-world sensed by the depth sensor. The camera transported with the mobile device is localized to the real-world based on matching the locations of the densified set of 2D features in 3D space to the depth information accessed in the structure-based map.

Abstract: A mobile electronic device is provided for use with a headset. A camera outputs digital pictures of a portion of the headset. A display device displays information for viewing by a user wearing the headset. A processor retrieves calibration parameters that characterize at least a pose of the camera relative to the display device, and processes a digital picture from the camera to identify a pose of an optically identifiable feature within the digital picture. A pose of the mobile electronic device is identified relative to the holder based on the identified pose of the optically identifiable feature within the digital picture and based on at least the pose of the camera relative to the display device as characterized by the calibration parameters. The processor controls where graphical objects are rendered on the display device based on the identified pose of the mobile electronic device relative to the holder.

Abstract: A method for determining a transformation between a first coordinate system of an ultrasonic haptic device and a second coordinate system of a visual sensor device. The method includes: triggering generation of an ultrasonic focal point; obtaining images depicting a body part of a user while the ultrasonic focal point is active; determining a position of the ultrasonic focal point in the second coordinate system when the body part of the user is in the ultrasonic focal point; repeating the triggering, obtaining and determining; and calculating a first transformation between the first coordinate system and the second coordinate system based on the positions of the ultrasonic focal points in the first coordinate system and the second coordinate system to thereby calibrate a relationship between the ultrasonic haptic device and the visual sensor device.

Abstract: It is provided a method for enabling predicting performance of a localization-related device in relation to localization and/or mapping, the localization-related device forming part of a device network. The method is performed in a predictor device and comprises the steps of: detecting that a first localization-related device joins the device network; obtaining a first set of properties of the first localization-related device; determining, based on the first set of properties, a predictive model for the first localization-related device; and deploying the predictive model for the first localization-related device.

Abstract: A first electronic device controls a second electronic device to measure a position of the first electronic device. The first electronic device includes a motion sensor, a network interface circuit, a processor, and a memory. The motion sensor senses motion of the first electronic device. The network interface circuit communicates with the second electronic device. The memory stores program code that is executed by the processor to perform operations that include, responsive to determining that the first electronic device has a level of motion that satisfies a defined rule, transmitting a request for the second electronic device to measure a position of the first electronic device. The position of the first electronic device is sensed and then stored in the memory. An acknowledgement is received from the second electronic device indicating that it has stored sensor data that can be used to measure the position of the first electronic device.

Abstract: A method (100) of controlling a portable device comprising a first camera and a second camera facing in the same direction. The method comprises: selecting (110) one of the first camera and the second camera as a visualization camera; initializing (120) a localization algorithm having as an input image data representing images captured by one of the first camera and the second camera; determining (130) a respective focus score for at least one of the first camera and the second camera, said focus score indicating a focus quality of features identified from images captured by one of the respective camera; selecting (140,) one of the first camera and the second camera as an enabled camera based on the at least one focus score; and generating a control signal configured to cause the selected camera to be enabled such that the image data representing images captured by the enabled camera are provided as the input to the localization algorithm.

Abstract: A mobile electronic device is provided for use with a headset. A camera outputs digital pictures of a portion of the headset. A display device displays information for viewing by a user wearing the headset. A processor retrieves calibration parameters that characterize at least a pose of the camera relative to the display device, and processes a digital picture from the camera to identify a pose of an optically identifiable feature within the digital picture. A pose of the mobile electronic device is identified relative to the holder based on the identified pose of the optically identifiable feature within the digital picture and based on at least the pose of the camera relative to the display device as characterized by the calibration parameters. The processor controls where graphical objects are rendered on the display device based on the identified pose of the mobile electronic device relative to the holder.

Abstract: A first electronic device controls a second electronic device to measure a position of the first electronic device. The first electronic device includes a motion sensor, a network interface circuit, a processor, and a memory. The motion sensor senses motion of the first electronic device. The network interface circuit communicates with the second electronic device. The memory stores program code that is executed by the processor to perform operations that include, responsive to determining that the first electronic device has a level of motion that satisfies a defined rule, transmitting a request for the second electronic device to measure a position of the first electronic device. The position of the first electronic device is sensed and then stored in the memory. An acknowledgement is received from the second electronic device indicating that it has stored sensor data that can be used to measure the position of the first electronic device.

Abstract: A method performed by a computing device of establishing a secret shared between a first communications device and at least one second communications device is provided. The method comprises acquiring, using a first means of communication with the first communications device, a first data representation from which the shared secret can be derived. The method further comprises generating a second data representation from the first data representation, from which second data representation the shared secret can be derived. Moreover, the method comprises providing, using a second means of communication, the second communications device with the second data representation, the first means of communication being different from the second means of communication.

Abstract: A method for aligning representations of a 3D space is provided, including: obtaining a first set of geometric restrictions for a first representation corresponding to capturing restrictions of a first capturing device, the first representation forming part of a map for positioning of capturing devices; obtaining a second set of geometric restrictions corresponding to capturing restrictions of a second capturing device for providing a second representation of a 3D physical space; determining that a difference between the first set of geometric restrictions and the second set of geometric restrictions exceeds a threshold; determining which one of the first set of geometric restrictions and the second set of geometric restrictions is most restrictive and which one is least restrictive; and triggering a restrictive determination of the representation that is based on the least restrictive set of geometric restrictions, the determination being based on the most restrictive set of geometric restrictions.

Abstract: A device is disclosed that is configured to perform localization using one or both of a monocular camera and a depth sensor that are transportable with the device. The device includes at least one processor operationally connected to the monocular camera and the depth sensor. The device also includes at least one memory storing program code that is executed by the at least one processor to perform operations to receive image data from the monocular camera. The operations determine a benefit level of activating the depth sensor for localization, based on the image data, and activate the depth sensor for localization based on a determination that the benefit level of activating the depth sensor satisfies an activation rule. Related methods and computer program products are also disclosed.

Abstract: A tactile telecommunications device comprising: a tactile device configured to receive input of tactile data and to output tactile data, said tactile device being associated with tactile device properties; a communications interface configured for establishing a connection with a second tactile telecommunications device, said second tactile telecommunications device comprising a second tactile device being associated with tactile device properties; a memory configured for storing said tactile device properties; and a controller configured to: receive said tactile device properties for said second tactile device; determine a common property by comparing said tactile device properties for said tactile device and said tactile device properties for said second tactile device; determine whether an adaptation is required, and if so, adapt operation of said tactile device accordingly.

Abstract: A method performed by a computing device of establishing a secret shared between a first communications device and at least one second communications device is provided. The method comprises acquiring, using a first means of communication with the first communications device, a first data representation from which the shared secret can be derived. The method further comprises generating a second data representation from the first data representation, from which second data representation the shared secret can be derived. Moreover, the method comprises providing, using a second means of communication, the second communications device with the second data representation, the first means of communication being different from the second means of communication.

Abstract: A method, executed at a controller for adapting a virtual object model, and a controller for executing the suggested method, where the method comprises acquiring of a virtual object model of a relevant virtual object and acquiring of at least one real object model of a relevant real object. Matching, according to at least one matching criteria, at least a part of the virtual object model to at least a part of one of the at least one real object model, selecting the best matching real object, and modifying at least a part of the virtual object model with respect to the at least part of the selected real object model.

Abstract: A method of capturing haptic content of an object, where the capturing involves a plurality of communication devices includes recognizing haptic content captured by a first communication device and properties associated with the captured haptic content and recognizing properties associated with a second communication device, and determining, at least partly based on the acquired properties, whether or not the second communication device is to participate in the capturing of the haptic content. Haptic content captured by the second communication device is then recognized by the haptic device, and a combination of the haptic content captured by the first communication device with the haptic content captured by the second communication device, can then be initiated. A haptic device and a system, capable of executing the method suggested above are also described.

Abstract: A mobile communications device for performing localization and mapping is disclosed, comprising at least one visual sensor for capturing visual sensor data of a local environment, and operative to derive key-point descriptors from the visual sensor data which represent visual features of the local environment, derive concealed representations of the derived key-point descriptors, by applying a current permutation to the derived key-point descriptors, determine a pose of the mobile communications device relative to a point-cloud map representing the local environment, map the derived key-point descriptors onto the point-cloud map, thereby associating each derived key-point descriptor with a position in the point-cloud map, and transmit the concealed representations of the derived key-point descriptors, together with their associated positions in the point-cloud map, to a map server.

Abstract: A method, executed at a controller for adapting a virtual object model, and a controller for executing the suggested method, where the method comprises acquiring of a virtual object model of a relevant virtual object and acquiring of at least one real object model of a relevant real object. Matching, according to at least one matching criteria, at least a part of the virtual object model to at least a part of one of the at least one real object model, selecting the best matching real object, and modifying at least a part of the virtual object model with respect to the at least part of the selected real object model.

Abstract: An active marker device, and method of design thereof, for use in a motion tracking system are provided. In one arrangement, the device comprises a mounting body comprising a mounting surface. A plurality of light emitting units are mounted on respective mounting portions of the mounting surface. A control system controls the plurality of light emitting units such that light is emitted simultaneously from a selected subset of light emitting units. A plurality of optical elements are mounted on the mounting surface. Each optical element covers a different one of the light emitting units and is configured so that an inner surface of the optical element is separated from an outer surface of the light emitting unit. Each optical element redirects a portion of light emitted by the light emitting unit covered by the optical element to be more parallel to the mounting portion of the light emitting unit.

Abstract: A method for determining a content pose of a piece of virtual content. The method is performed in a pose determiner and comprises: acquiring a first anchor pose of the anchoring device; determining a first content pose, being a pose of a piece of virtual content, in relation to the first anchor pose; storing the first content pose in relation to the first anchor pose; determining that a user device needs to determine a content pose of the piece of virtual content; acquiring a second anchor pose of the anchoring device; retrieving the stored first content pose; determining a second content pose of the piece of virtual content based on the first content pose and the second anchor pose; and rendering the piece of virtual content in the second content pose on a user device comprising a display.