Abstract: Mapping common features between images that commonly represent an environment using different light spectrum data is performed. A first image having first light spectrum data is accessed, and a second image having second light spectrum data is accessed. These images are fed as input to a DNN, which then identifies feature points that are common between the two images. A generated mapping lists the feature points and lists coordinates of the feature points from both of the images. Differences between the coordinates of the feature points in the two images are determined. Based on these differences, the second image is warped to cause the coordinates of the feature points in the second image to correspond to the coordinates of the feature points in the first image.

Abstract: An example computing system comprises a processor and a storage device holding instructions executable by the processor to receive a thermal image acquired via a thermal imaging system, each pixel of the thermal image comprising an intensity level, and generate a histogram via binning pixels by intensity level. The instructions are further executable to, based at least on the histogram, determine a subset of pixels to colorize, colorize the subset of pixels to produce a selectively colorized image, and output the selectively colorized image.

Abstract: Systems are configured for performing GPS-based and sensor-based relocalization. During the relocalization, the systems are configured to obtain radio-based positioning data indicating an estimated position of the system within a mapped environment. The systems are also configured to identify, based on the estimated position, a subset of keyframes of a map of the mapped environment, wherein the map of the mapped environment includes a plurality of keyframes captured from a plurality of locations within the mapped environment, and the plurality of keyframes are associated with anchor points identified within the mapped environment. The systems are further configured to perform relocalization within the mapped environment based on the subset of keyframes.

Abstract: Techniques are provided to reduce the form factor of laser-based systems by multi-purposing a photodiode used to help control the output of a laser. A reflective photodiode comprises a light receiving surface and a reflective coating. The light receiving surface is configured to absorb some incident light and to convert it into electrical current. The reflective coating is disposed on the light receiving surface and is configured to reflect some of the incident light away from the light receiving surface. The reflective coating also permits some of the incoming light to pass therethrough for absorption.

Abstract: Modifications are performed to cause a style of an image to match a different style. A first image is accessed, where the first image has the first style. A second image is also accessed, where the second image has a second style. Subsequent to a deep neural network (DNN) learning these styles, a copy of the first image is fed as input to the DNN. The DNN modifies the first image copy by transitioning the first image copy from being of the first style to subsequently being of the second style. As a consequence, a modified style of the transitioned first image copy bilaterally matches the second style.

Abstract: Optimizations are provided for reconstructing geometric surfaces for an environment that includes moving objects. Multiple depth maps for the environment are created, where some of the depth maps correspond to different perspectives of the environment. A motion state identifier is assigned to at least some pixels in at least some of the depth maps corresponding to moving objects in the environment. A composite 3D mesh is built using at least some of the multiple depth maps, by incorporating pixel information from the depth maps, while omitting pixel information identified by the motion state identifiers as being associated with moving objects.

Abstract: Improved techniques for re-localizing Internet-of-Things (IOT) devices are disclosed herein. Sensor data digitally representing one or more condition(s) monitored by an IOT device is received. In response, a sensor readings map is accessed, where this map is associated with the IOT device. The map also digitally represents the IOT device's environment and includes data representative of a location of the IOT device within the environment. The map also includes data representative of the conditions monitored by the IOT device. Additionally, the map is updated by attaching the sensor data to the map. In some cases, a coverage map can also be computed. Both the sensors readings map and the coverage map can be automatically updated in response to the IOT device being re-localized.

Abstract: Disclosed herein are optimized techniques for controlling the exposure time or illumination intensity of a depth sensor. Invalid-depth pixels are identified within a first depth map of an environment. For each invalid-depth pixel, a corresponding image pixel is identified in a depth image that was used to generate the first depth map. Multiple brightness intensities are identified from the depth image. Each brightness intensity is categorized as corresponding to either an overexposed or underexposed image pixel. An increased exposure time or illumination intensity or, alternatively, a decreased exposure time or illumination intensity is then used to capture another depth image of the environment. After a second depth map is generated based on the new depth image, portion(s) of the second depth map are selectively merged with the first depth map by replacing the invalid-depth pixels of the first depth map with corresponding valid-depth pixels of the second depth map.

Abstract: A system for facilitating the identifying of correspondences between images experiencing motion blur obtains a reference frame captured by a reference camera at a reference camera and obtains a match frame captured by a match camera at a match camera timepoint. The system identifies a motion attribute that includes (1) a reference camera motion attribute associated with the reference camera at the reference camera timepoint, and/or (2) a match camera motion attribute associated with the match camera at the match camera timepoint. The system determines a downsampling resolution using at least as inputs at least one of: the motion attribute, a camera exposure time, a camera field of view, or a camera angular resolution. The system generates a downsampled reference frame and a downsampled match frame based on the downsampling resolution. The system identifies correspondences between the downsampled reference frame and the downsampled match frame.

Abstract: A system for updating continuous image alignment of separate cameras identifies a previous alignment matrix associated with a previous frame pair captured at one or more previous timepoints by a reference camera and a match camera. The previous alignment matrix is based on visual correspondences in the previous frame pair. The system also identifies a current matrix associated with a current frame pair captured at one or more current timepoints by the reference camera and the match camera. The current matrix is based on visual correspondences in the current frame pair. The system also identifies a difference value associated with the reference camera or the match camera relative to the one or more previous timepoints and the one or more current timepoints. The system also generates an updated alignment matrix by using the previous alignment matrix, the current matrix, and the difference value as inputs.

Abstract: One method comprises receiving a hit signal from a device worn by a first player, receiving a position of the device, receiving an orientation of a launch axis of a virtual-projectile launcher, receiving a position of a second player, and outputting a hit assignment on determining, pursuant to receiving the hit signal, that a recognized object and the second player are coincident at an indicated launch of a virtual projectile. Another method comprises receiving an indication of launch of a virtual projectile by a virtual-projectile launcher of a first player, receiving an image aligned to a launch axis of the virtual-projectile launcher, outputting a hit signal to a server on determining, pursuant to receiving the indication of launch, that a recognized object is imaged in a projectile-delivery area of the image, and outputting a position of the device and an orientation of the launch axis to the server.

Abstract: A head-mounted device (HMD) is structured to include at least one computer vision camera that omits an IR light filter. Consequently, this computer vision's sensor is able to detect IR light, including IR laser light, in the environment. The HMD is configured to generate an image of the environment using the computer vision camera. This image is then fed as input into a machine learning (ML) algorithm that identifies IR laser light, which is detected by the sensor and which is recorded in the image. The HMD then visually displays a notification comprising information corresponding to the detected IR laser light.

Abstract: A system for reducing a search area for identifying correspondences identifies an overlap region within a first match frame captured by a match camera. The overlap region includes one or more points of the first match frame that are associated with one or more same portions of an environment as one or more corresponding points of a first reference frame captured by a reference camera. The system obtains a second reference frame captured by the reference camera and a second match frame captured by the match camera. The system identifies a reference camera transformation matrix, and/or a match camera transformation matrix. The system defines a search area within the second match frame based on the overlap region and the reference camera transformation matrix and/or the match camera transformation matrix.

Abstract: A system for continuous image alignment of separate cameras identifies a reference camera transformation matrix between a base reference camera pose and an updated reference camera pose. The system also identifies a match camera transformation matrix between a base match camera pose and an updated match camera pose and an alignment matrix based on visual correspondences between one or more reference frames captured by the reference camera and one or more match frames captured by the match camera. The system also generates a motion model configured to facilitate mapping of a set of pixels of a reference frame captured by the reference camera to a corresponding set of pixels of a match frame captured by the match camera based on the reference camera transformation matrix, the match camera transformation matrix, and the alignment matrix.

Abstract: Techniques for improving laser image quality are disclosed herein. An ultra-compact illumination module includes multiple illuminators, photodetectors, and color filters. The illuminators each emit a different spectrum of light. Because of the compact nature of the module and the positioning of the illuminators relative to one another, the different spectrums of light overlap one another prior to being detected by the photodetectors. Each of the photodetectors is associated with a corresponding one of the illuminators, and each of the color filters is associated with a corresponding one of the photodetectors. Each color filter is positioned in-between its corresponding illuminator and photodetector and passes a particular spectrum of light while filtering out other spectrums of light. Consequently, the photodetectors each receive spectrally filtered light having passed through at least one of the color filters. The power output of the illuminators can also be corrected based on output from the photodetectors.

Abstract: Techniques for aligning and stabilizing images generated by an integrated stereo camera pair with images generated by a detached camera are disclosed. A first image is generated using a first stereo camera; a second image is generated using a second stereo camera; and a third image is generated using the detached camera. A first rotation base matrix is computed between the third and first images, and a second rotation base matrix is computed between the third and second images. The third image is aligned to the first image using the first rotation base matrix, and the third image is aligned to the second image using the second rotation base matrix. A first overlaid image is generated by overlaying the third image onto the first image, and a second overlaid image is generated by overlaying the third image onto the second image. The two overlaid images are parallax corrected and displayed.

Abstract: Techniques for aligning images generated by an integrated camera physically mounted to an HMD with images generated by a detached camera physically unmounted from the HMD are disclosed. A 3D feature map is generated and shared with the detached camera. Both the integrated camera and the detached camera use the 3D feature map to relocalize themselves and to determine their respective 6 DOF poses. The HMD receives the detached camera's image of the environment and the 6 DOF pose of the detached camera. A depth map of the environment is accessed. An overlaid image is generated by reprojecting a perspective of the detached camera's image to align with a perspective of the integrated camera and by overlaying the reprojected detached camera's image onto the integrated camera's image.

Abstract: Techniques for aligning and stabilizing images generated by an integrated stereo camera pair with images generated by a detached camera are disclosed. A first image is generated using a first stereo camera; a second image is generated using a second stereo camera; and a third image is generated using the detached camera. A first rotation base matrix is computed between the third and first images, and a second rotation base matrix is computed between the third and second images. The third image is aligned to the first image using the first rotation base matrix, and the third image is aligned to the second image using the second rotation base matrix. A first overlaid image is generated by overlaying the third image onto the first image, and a second overlaid image is generated by overlaying the third image onto the second image. The two overlaid images are parallax corrected and displayed.

Abstract: A computer device is provided that a processor configured to determine a plurality of candidate heading and velocity values from an initial position based on at least on measurements from an inertial measurement unit and a compass device. The processor is further configured to determine a probability for each of the plurality of candidate heading and velocity values using a probabilistic framework that assigns a lower probability to candidate heading and velocity values that conflict with travel constraining map features. The processor is further configured to rank the plurality of candidate heading and velocity values and track a position for the computer device based on a highest ranked candidate heading and velocity value.

Abstract: One aspect of this disclosure includes a method for operating a head-mounted display system that includes an imaging device. The method includes receiving an indication that an ambient light condition in an environment is below a lighting threshold. Responsive to the low lighting condition, an amount of motion of the head-mounted display relative to the environment is determined based on one or more signals received from an inertial measurement unit included in the head-mounted display system. An exposure time, frame rate, and a pixel-binning mode are automatically selected for the imaging device based on the determined amount of motion. Imagery is captured from the environment using the automatically selected exposure time, frame rate, and pixel-binning mode for the imaging device. The captured imagery is then displayed at the head-mounted display system.