Abstract: Examples are disclosed that relate to a camera model for a machine vision application. One example provides instructions executable to receive image data obtained by an image sensor of a camera, the image data capturing a calibration pattern comprising a plurality of calibration features, for each of one or more imaged calibration features in the image data, determine an object space location of the imaged calibration feature, and determine a distance between the object space location and a corresponding ray of a camera model, the camera model defining a plurality of rays that each represent a relationship of an image space location on the image sensor to object space. The instructions are further executable to determine a value of a cost function based on the distances, adjust the camera model until the cost function meets a target condition, and use the camera model in a machine vision application.

Abstract: One disclosed example provides a head-mounted device configured to control a plurality of light sources of a handheld object and acquire image data comprising a sequence of environmental tracking exposures in which the plurality of light sources are controlled to have a lower integrated intensity and handheld object tracking exposures in which the plurality of light sources are controlled to have a higher integrated intensity. The instructions are further executable to detect, via an environmental tracking exposure, one or more features of the surrounding environment, determine a pose of the head-mounted device based upon the one or more features of the surrounding environment detected, detect via a handheld object tracking exposure the plurality of light sources of the handheld object, determine a pose of the handheld object relative to the head-mounted device based upon the plurality of light sources detected, and output the pose of the handheld object.

Abstract: One disclosed example provides a head-mounted device configured to control a plurality of light sources of a handheld object and acquire image data comprising a sequence of environmental tracking exposures in which the plurality of light sources are controlled to have a lower integrated intensity and handheld object tracking exposures in which the plurality of light sources are controlled to have a higher integrated intensity. The instructions are further executable to detect, via an environmental tracking exposure, one or more features of the surrounding environment, determine a pose of the head-mounted device based upon the one or more features of the surrounding environment detected, detect via a handheld object tracking exposure the plurality of light sources of the handheld object, determine a pose of the handheld object relative to the head-mounted device based upon the plurality of light sources detected, and output the pose of the handheld object.

Abstract: One disclosed example provides a head-mounted device configured to control a plurality of light sources of a handheld object and acquire image data comprising a sequence of environmental tracking exposures in which the plurality of light sources are controlled to have a lower integrated intensity and handheld object tracking exposures in which the plurality of light sources are controlled to have a higher integrated intensity. The instructions are further executable to detect, via an environmental tracking exposure, one or more features of the surrounding environment, determine a pose of the head-mounted device based upon the one or more features of the surrounding environment detected, detect via a handheld object tracking exposure the plurality of light sources of the handheld object, determine a pose of the handheld object relative to the head-mounted device based upon the plurality of light sources detected, and output the pose of the handheld object.

Abstract: Examples are disclosed that relate to a camera model for a machine vision application. One example provides instructions executable to receive image data obtained by an image sensor of a camera, the image data capturing a calibration pattern comprising a plurality of calibration features, for each of one or more imaged calibration features in the image data, determine an object space location of the imaged calibration feature, and determine a distance between the object space location and a corresponding ray of a camera model, the camera model defining a plurality of rays that each represent a relationship of an image space location on the image sensor to object space. The instructions are further executable to determine a value of a cost function based on the distances, adjust the camera model until the cost function meets a target condition, and use the camera model in a machine vision application.

Abstract: One disclosed example provides a head-mounted device including a stereo camera arrangement, a logic device configured to execute instructions, and a storage device storing instructions executable by the logic device to, for each camera in the stereo camera arrangement, receive image data of a field of view of the camera, detect light sources of a handheld object in the image data, and based upon the light sources detected, determine a pose of the handheld object. The instructions are executable to, based upon the pose of the handheld object determined for each camera in the stereo camera arrangement, calibrate the stereo camera arrangement.

Abstract: Examples are disclosed herein related to tracking poses of a head-mounted display device that interfaces with handheld peripheral objects. One disclosed example provides a handheld object configured for providing user input to a head-mounted device, the handheld object including a body, a plurality of visible light sources arranged on the body in an arrangement trackable by a vision system of the head-mounted device, and a controller configured to control a brightness of one or more visible light sources of the plurality of visible light sources.

Abstract: One disclosed example provides a head-mounted device configured to control a plurality of light sources of a handheld object and acquire image data comprising a sequence of environmental tracking exposures in which the plurality of light sources are controlled to have a lower integrated intensity and handheld object tracking exposures in which the plurality of light sources are controlled to have a higher integrated intensity. The instructions are further executable to detect, via an environmental tracking exposure, one or more features of the surrounding environment, determine a pose of the head-mounted device based upon the one or more features of the surrounding environment detected, detect via a handheld object tracking exposure the plurality of light sources of the handheld object, determine a pose of the handheld object relative to the head-mounted device based upon the plurality of light sources detected, and output the pose of the handheld object.

Abstract: Examples are disclosed herein related to tracking poses of a head-mounted display device that interfaces with handheld peripheral objects. One disclosed example provides a handheld object configured for providing user input to a head-mounted device, the handheld object including a body, a plurality of visible light sources arranged on the body in an arrangement trackable by a vision system of the head-mounted device, and a controller configured to control a brightness of one or more visible light sources of the plurality of visible light sources.

Abstract: One disclosed example provides a head-mounted device including a stereo camera arrangement, a logic device configured to execute instructions, and a storage device storing instructions executable by the logic device to, for each camera in the stereo camera arrangement, receive image data of a field of view of the camera, detect light sources of a handheld object in the image data, and based upon the light sources detected, determine a pose of the handheld object. The instructions are executable to, based upon the pose of the handheld object determined for each camera in the stereo camera arrangement, calibrate the stereo camera arrangement.