Abstract: Methods for selecting pairs of cameras in a multicamera array configured to image a scene to generate stereoscopic views, and associated systems and devices, are disclosed herein. In some embodiments, a representative method includes selecting a pair of cameras in the multicamera array from which to generate a stereoscopic view, and receiving images of the scene from the selected pair of the cameras. The method further includes cropping the images based on a known calibration of the cameras and a desired disparity, and displaying the cropped images on a display device to generate the stereoscopic view. The desired disparity can correspond to an interpupillary distance of a user.

Abstract: A method of transferring data can comprise dividing an experience space into polyhedrons comprising a network of interconnected planes. Sheets of experience space data of the experience space can be collected via a distributed sensor array. Each sensor of the distributed sensor array can comprise a corresponding sheet of experience space data. One of the polyhedrons can be selected as a client location polyhedron. Client location data can be extracted from the experience space data. The client location data can correspond to the client location polyhedron. Extraction can be by intersecting ones of the sheets of experience space data to form a polyhedral data set.

Abstract: A three-dimensional imaging apparatus includes: a housing having a first opening and a second opening; a first imaging device configured to collect a first set of image data, the first imaging device being mounted within the housing and having an optical axis through the first opening of the housing and a first field of view configured with respect to the optical axis; and a second imaging device configured to collect a second set of image data, the second imaging device being mounted within the housing and having a scanning plane through the second opening of the housing and a second field of view configured with respect to the scanning plane. The optical axis of the first imaging device and the scanning plane of the second imaging device form an angle. The first field of view and the second field of view do not overlap.

Abstract: An information processing apparatus includes: a plurality of stereo cameras arranged so that directions of baseline lengths of the stereo cameras intersect each other; a depth estimation unit that estimates, from captured images captured by the plurality of stereo cameras, a depth of an object included in the captured images; and an object detection unit that detects the object based on the depth estimated by the depth estimation unit and reliability of the depth, the reliability being determined in accordance with an angle of a direction of an edge line of the object with respect to the directions of the baseline lengths of the plurality of stereo cameras.

Abstract: An example computing device includes: a three-dimensional (3D) sensor configured to capture point cloud data from a field of view; an auxiliary sensor configured to capture a reference depth measurement corresponding to a surface within the field of view; a processor interconnected with the 3D sensor and the auxiliary sensor, the processor configured to: control the 3D sensor and the auxiliary sensor to capture the point cloud data and the reference depth measurement; select a region of the point could data including a position of the reference depth measurement; determine a representative depth value of the region of the point cloud data to compare to the reference depth measurement; determine whether the representative depth value is within a similarity threshold to the reference depth measurement; and determine, based on whether the representative depth value is within the similarity threshold to the reference depth measurement, whether to use the point cloud data for a dimensioning operation.

Abstract: A computer-implemented method for visualizing interactions in an extended reality (XR) scene, the computer-implemented method comprising: receiving a first dataset representing an XR scene including a technical device; displaying the XR scene on an XR headset or a head-mounted display (HMD); providing a room for a user wearing the XR headset or HMD for interacting with the XR scene, wherein the room includes a set of optical sensors including at least one optical sensor at a fixed location relative to the room; detecting optical sensor data of the user as a second dataset while the user is interacting with the XR scene in the room; and fusing the first dataset and the second dataset to generate a third dataset.

Abstract: A panorama rendering method, an electronic device and a storage medium are provided, and relates to the field of panoramic technology. The method includes: segmenting a panoramic picture to obtain segmented panoramic tile pictures; determining a target tile picture under a current screen and a target spherical patch in a panoramic picture sphere model, according to the panoramic picture sphere model and the segmented panoramic tile pictures; and pelfonning drawing on the target spherical patch by using the target tile picture, to obtain a target scene. In this way, time consumption of panorama loading can be reduced and loading performance can be improved.

Abstract: A method for measuring respiratory parameters of a subject using a range imaging sensor, wherein the method includes: receiving from the range imaging sensor at least one raw image of at least one portion of the torso of the subject, wherein each point of the raw image represents the distance between the range imaging sensor and the subject; generating a surface image of at least one portion of a surface of the torso of the subject by surface interpolation of the raw image; estimating a respiratory signal as a function of time calculated as the spatial average, in a given region of interest (ROI) defined on the torso of the subject, of the differences between the depth values of the surface image at a given time and the depth values of a reference surface image; and estimating a lung volume.

Abstract: This document describes techniques and systems that enable grid-based enrollment for face authentication. The techniques and systems include overlaying a three-dimensional (3D) tracking window over a preview image of the user's face displayed via a display device. The 3D tracking window includes a plurality of segments, which persist to correspond to an approximate direction that the user's face is facing. Based on the tracking, segments are highlighted to indicate the approximate direction that the user's face is facing, a camera captures enrollment images of the user's face facing that direction, and embeddings are generated based on the enrollment images and stored in a fixed grid of pose cells corresponding to various facial poses for use in face authentication. Responsive to generation and storage of the embeddings, an indication that the one or more segments are completed is provided.

Abstract: A display device, a method, and a non-transitory computer readable medium for modulating capturing view are provided, the display device is wearable on a user's head and includes an image capturing module, a motion capturing module, and a control module; the image capturing module captures an environment image, the image capturing module is movably arranged; the motion capturing module obtains an inclined angle through measuring a posture of the user's head; the control module compares the inclined angle to a predetermined angle, to obtain an angle difference between the inclined angle and the predetermined angle, and controls the image capturing module to move to adjust a position when the angle difference is greater than an angle threshold value, rendering a degree of overlapping of a field of view of the image capturing module and a field of view of the user reaches a predetermined degree of overlapping.

Abstract: A stereoscopic camera with fluorescence strobing based visualization is disclosed herein. In an example, a stereoscopic camera is configured to provide a visible light mode for a first specified number of frames over a cycle by causing visible light reflected from a surgical site to be provided to left and right image sensors by activating a visible light source. The stereoscopic camera is also configured to provide a fluorescence mode for a second specified number of frames over the cycle by causing fluorescence emission light from the surgical site to be provided to the left and right image sensors by activating a near-ultraviolet light source. The stereoscopic camera switches between the visible light mode and the fluorescence mode based on the first and second specified number of frames. A processor superimposes image data corresponding to the fluorescence mode on subsequently received image data corresponding to the visible light mode.

Abstract: Systems and methods are provided for generating a viewport for display. A user preference for a character and/or a genre of a scene in a spherical media content item is determined, wherein the spherical media content item comprises a plurality of tiles. A tile of the plurality of tiles is identified based on the determined user preference. A viewport to be generated for display at a computing device is predicted, based on the identified tile. A first tile to be transmitted to a computing device at a first resolution is identified, based on the predicted viewport to be generated for display. The tile is transmitted, to the computing device, at the first resolution.

Abstract: A method for calibrating a visual-inertial tracking system is described. A device operates the visual-inertial tracking system without receiving a tracking request from a virtual object display application. In response to operating the visual-inertial tracking system, the device accesses sensor data from sensors at the device. The device identifies, based on the sensor data, a first calibration parameter value of the visual-inertial tracking system and stores the first calibration parameter value. The system detects a tracking request from the virtual object display application. In response to the tracking request, the system accesses the first calibration parameter value and determines a second calibration parameter value from the first calibration parameter value.

Abstract: Apparatus, including a retaining structure (54), positioned near a subject's eye that has a pupil with a diameter, an optical combiner (52A) mounted on the structure before the eye, and a pixelated screen (60A) having an array of variably transparent pixels coating the combiner. There is an image capturing device (68A) mounted on the structure to capture an image of a scene viewed by the eye, and a projector (64A) is mounted on the structure to project at least one of a portion of the captured image and a stored image onto a section of the screen at a selected location thereof. A processor (26) renders the screen section at least partially opaque, selects the section location in response to a region of interest in the scene identified by analysis of the captured image, and determines a dimension of the section in response to the pupil diameter.

Abstract: Contact over active gate (COAG) structures with a tapered gate or trench contact are described. In an example, an integrated circuit structure includes a plurality of gate structures above a substrate, wherein individual ones of the plurality gate of structures have thereon a conductive cap between sidewall spacers. A plurality of conductive trench contact structures is alternating with the plurality of gate structures, wherein individual ones of the plurality of conductive trench contact structures have thereon a conductive cap between sidewall spacers. A conductive structure is in direct contact with the conductive cap and sidewall spacers on one of the plurality of gate structures or with the conductive cap and sidewall spacers on one of the plurality of conductive trench contact structures.

Abstract: The present disclosure relates to a camera having two or more cameras responsible for different illuminances. The present disclosure includes a first camera, a second camera, an illuminance sensor sensing an ambient light illuminance or a subject illuminance, an interface unit configured to connect to an external device, and a controller configured to photograph a first camera image through a first camera, photograph a second camera image through a second camera by performing a first camera operation switch when an illuminance sensed through the illuminance sensor is equal to or smaller than a first illuminance, photograph the first camera image through the first camera by performing a second camera operation switch when the illuminance sensed through the illuminance sensor is equal to or greater than a second illuminance higher than the first illuminance, and control one of the photographed first and second images to be transmitted to the external device through the interface unit.

Abstract: A method, instructions for which are executed from a computer-readable medium, calibrates a robotic camera system having a digital camera connected to an end-effector of a serial robot. The end-effector and camera move within a robot motion coordinate frame (“robot frame”). The method includes acquiring, using the camera, a reference image of a target object on an image plane having an optical coordinate frame, and receiving input signals, including a depth measurement and joint position signals. Separate roll and pitch offsets are determined of a target point within the reference image with respect to the robot frame while moving the robot. Offsets are also determined with respect to x, y, and z axes of the robot frame while moving the robot through another motion sequence. The offsets are stored in a transformation matrix, which is used to control the robot during subsequent operation of the camera system.

Abstract: The disclosure herein describes enabling a user of a remote mixed reality (MR) device to observe an environment of a local MR device combined with 3D surface reconstruction (SR) mesh data and live video data. Optical data of a surface of an environment is obtained and a 3D surface reconstruction mesh of the surface is generated from the obtained optical data using photogrammetry. The generated 3D surface reconstruction mesh is provided for display by a remote device. A live video feed of a window region of the environment is obtained and the live video feed of the window region is provided for display on the generated 3D surface reconstruction mesh by the remote device. Further, a remote user is enabled to provide feedback to a user of the local MR device, including audio feedback such as speech and virtual artifacts that are displayed to the local user.

Abstract: A media items to be shared with users of a content sharing service are identified. Each of the media items corresponds to a video recording generated by a client device that depicts one or more objects corresponding to a real-world event and/or a geographic location. A location of the client device that generated the video recording corresponding to a respective media item of the media items is determined based on image features depicted in a set of frames of the video recording. A request for content associated with at least one of the real-world event and/or the geographic location is received from another client device connected to the content sharing service. The media items and, for each of the media items, an indication of the location of the client device that generated the corresponding video recording are provided in accordance with the request for content.

Abstract: A method of executing a gesture command includes identifying a hand centroid of a hand. The method also includes identifying a first finger tip of a first finger on the hand. The method further includes identifying a thumb tip of a thumb on the hand. Moreover, the method includes determining a surface normal relationship between the hand centroid, the first fingertip and the thumb tip.

Abstract: One embodiment can provide a robotic system. The robotic system can include a robotic arm comprising an end-effector, a robotic controller configured to control movements of the robotic arm, and a dual-resolution computer-vision system. The dual-resolution computer-vision system can include a low-resolution three-dimensional (3D) camera module and a high-resolution 3D camera module. The low-resolution 3D camera module and the high-resolution 3D camera module can be arranged in such a way that a viewing region of the high-resolution 3D camera module is located inside a viewing region of the low-resolution 3D camera module, thereby allowing the dual-resolution computer-vision system to provide 3D visual information associated with the end-effector in two different resolutions when at least a portion of the end-effector enters the viewing region of the high-resolution camera module.

Abstract: An expression recognition method is described that includes acquiring a face image to be recognized, and inputting the face image into N different recognition models arranged in sequence for expression recognition and outputting an actual expression recognition result, the N different recognition models being configured to recognize different target expression types, wherein N is an integer greater than 1.

Abstract: Disclosed are systems, methods, and non-transitory computer-readable media for misaligned vantage point mitigation for computer stereo vision. A misaligned vantage point mitigation system determines whether vantage points of the optical sensors are misaligned from an expected vantage point and, if so, determines an adjustment variable to mitigate the misalignment based on the location of matching features identified in images captured by both optical sensors.

Abstract: A method for controlling a medical device may be provided. The method may include obtaining, via one or more cameras, first data regarding a first motion of a subject in an examination space of the medical device. The method may include obtaining, via one or more radars, second data regarding a second motion of the subject. The method may further include generating, based on the first data and the second data, a control signal for controlling the medical device to scan at least a part of the subject.

Abstract: A method for registering a two-dimensional image data set with a three-dimensional image data set of a body of interest is discloses herein. The method includes the following steps: adjusting a first virtual camera according to a distance parameter calculated corresponding to the two-dimensional image data set and the body of interest; rotating the first virtual camera according to an angle difference between a first vector and a second vector; and rotating the first virtual camera according to an angle which is corresponding to a maximum similarity value of a plurality of similarity values calculated in accordance with reconstructed images of the three-dimensional image data set which includes one generated by the first virtual camera and the others generated by other virtual cameras with different angles or different pixels from the one generated by the first virtual camera and the two-dimensional image data set.

Abstract: A system for executing a three-dimensional (3D) intraoperative scan of a patient is disclosed. A 3D scanner control computing device projects the object points included onto a first image plane and the object points onto a second image plane. The 3D scanner control computing device determines first epipolar lines associated with the first image plane and second epipolar lines associated with the second image plane based on an epipolar plane that triangulates the object points included in the first 2D intraoperative image to the object points included in the second 2D intraoperative image. Each epipolar lines provides a depth of each object as projected onto the first image plane and the second image plane. The 3D scanner control computing device converts the first 2D intraoperative image and the second 2D intraoperative image to the 3D intraoperative scan of the patient based on the depth of each object point provided by each corresponding epipolar line.

Abstract: The information processing apparatus obtains first viewpoint information for specifying a virtual viewpoint corresponding to a virtual viewpoint image and second viewpoint information representing a viewpoint of a first image capturing apparatus existing in an image capturing range of a second image capturing apparatus that is used for generating the virtual viewpoint image and performs control so that the image captured by the first image capturing apparatus is output in a case where a position of the first image capturing apparatus specified by the second viewpoint information is included in a field of view of the virtual viewpoint specified by the first viewpoint information.

Abstract: Examples relate to implementations of a neural light transport. A computing system may obtain data indicative of a plurality of UV texture maps and a geometry of an object. Each UV texture map depicts the object from a perspective of a plurality of perspectives. The computing system may train a neural network to learn a light transport function using the data. The light transport function may be a continuous function that specifies how light interacts with the object when the object is viewed from the plurality of perspectives. The computing system may generate an output UV texture map that depicts the object from a synthesized perspective based on an application of the light transport function by the trained neural network.

Abstract: An illustrative augmented reality (AR) management system determines a first optic parameter of a user corresponding to a first viewed point in a real-world environment and a second optic parameter of the user corresponding to a second viewed point in the real-world environment. The first viewed point and the second viewed point are viewed by the user as the user visually focuses on a target point in the real-world environment. The AR management system determines a depth value of the target point based on the first optic parameter and the second optic parameter, and creates an AR anchor associated with the target point based at least on the depth value. Corresponding methods and systems are also disclosed.

Abstract: The disclosed method encompasses using an augmented reality device to blend in augmentation information including for example atlas information. The atlas information may be display separately from or in addition to a patient image (planning image). In order to display the atlas information in a proper position relative to the patient image, the two data sets are registered to one another. This registration can serve for generating a diversity of atlas-based image supplements, for example alternatively or additionally to the foregoing for displaying a segmentation of the patient image in the augmented reality image. The disclosed method is usable in a medical environment such as for surgery or radiotherapy.

Abstract: This disclosure relates to improved systems and methods for providing and using wearable electronic accessories. A wearable electronic necklace accessory can include a support structure that permits the wearable electronic accessory to be worn in a user's neck region. The wearable electronic necklace accessory can include an electronic pendant coupled to the support structure, the electronic pendant can comprise a housing that includes a first wall, a second wall, and one or more side walls configured to couple the first wall to the second wall. The wearable electronic necklace accessory can include a display device and an audio device positioned within the pendant housing and configured to output electronic media and audio content. Other embodiments are disclosed.

Abstract: Aspects of the present disclosure relate to systems, devices and methods for performing a surgical step or surgical procedure with visual guidance using an optical head mounted display. Aspects of the present disclosure relate to systems, devices and methods for displaying, placing, fitting, sizing, selecting, aligning, moving a virtual implant on a physical anatomic structure of a patient and, optionally, modifying or changing the displaying, placing, fitting, sizing, selecting, aligning, moving, for example based on kinematic information.

Abstract: A three-dimensional (3D) dental scanning system (1) for scanning a dental object (D) includes a scanning surface (124a) to support the dental object (D); a scanning section (130) to capture a 3D scan of the dental object (D); a motion section (120) to move the scanning surface (124a) and scanning section (130) relative to each other in five axes of motion, whilst retaining the scanning surface (124a) in a substantially horizontal plane, and a control unit (140) configured to control the motion section (120) and the scanning section (130) to obtain a 3D scan of the dental object (D).

Abstract: A display device includes a display part including a plurality of pixels; a lens part disposed on the display part; and a plurality of optical devices overlapping an edge of the display part in a plan view and disposed at an edge of the lens part, wherein light from the outside of the display part is incident on the plurality of optical devices.

Abstract: An optical inspection system is provided for an ultraviolet laser and associated optics forming a planar laser sheet directed to a glass sheet. The planar laser sheet intersects a surface of the glass sheet thereby causing the surface of the glass sheet to fluoresce and form a visible wavelength line on the surface. A camera has an image sensor for detecting the visible wavelength line. A control system in configured to receive image data indicative of the visible wavelength line, analyze and triangulate the data to determine a series of coordinates associated with the line, and create a three-dimensional map of the surface of the glass sheet as a function of the series of coordinates. Methods for using an optical inspection system, for gauging a surface using an optical inspection system, and for providing optical reflectance information for a surface using an optical inspection system are also provided.

Abstract: A camera module structure is provided which includes a mainboard, a first camera module, a second camera module, and a TOF device. The TOF device is located between the first camera module and the second camera module, which are respectively mounted to a first mounting portion and a second mounting portion that are hollowed-out via the brackets. The mainboard includes a spacing portion for separation between the first mounting portion and the second mounting portion. The TOF device is disposed on an upper surface of an auxiliary circuit board; the auxiliary circuit board is greater than the spacing portion in width; the auxiliary circuit board is located on an upper surface of the mainboard, and the auxiliary circuit board is connected to the mainboard and at least partially overlapped with the spacing portion; and the auxiliary circuit board is provided with a material removal portion on a lower surface.

Abstract: A multi-channel video recording method comprises: starting, by an electronic device, a camera; acquiring images by using a first camera lens and a second camera lens in a plurality of camera lenses; displaying a preview interface, where the preview interface includes a first image and a second image; the first image is an image acquired by the first camera lens, the second image is from the second camera lens, and the second image corresponds to a central area of an image acquired by the second camera lens; and the first image is located in a first area in the preview interface, and the second image is located in a second area in the preview interface; starting video recording after detecting a video recording instruction operation of a user; and displaying a shooting screen, where the shooting screen includes the first area and the second area.

Abstract: Implementations are disclosed for automatic commissioning, configuring, calibrating, and/or coordinating sensor-equipped modular edge computing devices that are mountable on agricultural vehicles. In various implementations, neighbor modular edge computing device(s) that are mounted on a vehicle nearest a given modular edge computing device may be detected based on sensor signal(s) generated by contactless sensor(s) of the given modular edge computing device. Based on the detected neighbor modular edge computing device(s), an ordinal position of the given modular edge computing device may be determined relative to a plurality of modular edge computing devices mounted on the agricultural vehicle. Based on the sensor signal(s), distance(s) to the neighbor modular edge computing device(s) may be determined. Extrinsic parameters of the given modular edge computing device may be determined based on the ordinal position of the given modular edge computing device and the distance(s).

Abstract: Various implementations disclosed herein include devices, systems, and methods that tracks an electronic device by fusing tracking algorithms. In some implementations, instructions stored on a computer-readable medium are executable to cause obtaining pairs of first position data corresponding to a position of the electronic device in a first coordinate system obtained using a first technique and second position data in a second coordinate system obtained using a second technique. In some implementations, transformations for the respective pairs are determined that provide a positional relationship between the first coordinate system and the second coordinate system. In some implementations, a subset of the pairs is identified based on the transformations, and a combined transformation is determined based on the subset of the transformations. In some implementations, content is provided on an electronic device based on the combined transformation.

Abstract: Provided is an imaging device that includes a rear display and an electronic viewfinder and is excellent in operability to a touch panel when an electronic viewfinder is used. When a user performs a touch manipulation on a touch panel installed in a rear display in order to set a focus area, an effective detection area for detecting a touch position is different between when the rear display is used and when the electronic viewfinder is used. When the rear display is used, the effective detection area is set to coincide with the entire display screen, and when the electronic viewfinder is used, the effective detection area is set to be reduced to an area of a part of the display screen of the rear display.

Abstract: High-frame-rate stereoscopic projection using a single digital projector provides a powerful sense of immersion when shown on wide screens, and the human eye perceives each frame as unique and separate from the others by virtue of the natural left-right “shuttering” that occurs via the chosen 3D projection technology. Techniques are provided for the introduction of one or more consecutive “digital dark frames” into the image streams presented to the dual projectors in such a manner that the sequence of out-of-phase photography is replicated via out-of-phase projection. This is achieved by alternately introducing the dark frames so that the sequence of stereoscopic images is presented in proper temporal continuity.

Abstract: One example system comprises an active sensor that includes a transmitter and a receiver, a first camera that detects external light originating from one or more external light sources to generate first image data, a second camera that detects external light originating from one or more external light sources to generate second image data, and a controller. The controller is configured to perform operations comprising determining a first distance estimate to a first object based on a comparison of the first image data and the second image data, determining a second distance estimate to the first object based on active sensor data, comparing the first distance estimate and the second distance estimate, and determining a third distance estimate to a second object based on the first image data, the second image data, and the comparison of the first and second distance estimates.

Abstract: An example method for training a machine learning model is provided. The method includes receiving training data collected by a three-dimensional (3D) imager, the training data comprising a plurality of training sets. The method further includes generating, using the training data, a machine learning model from which a disparity map can be inferred from a pair of images that capture a scene where a light pattern is projected onto an object.

Abstract: System and methods are provided for generating panoramic imagery. An example method may be performed by one or more processors and includes obtaining first panoramic imagery depicting a geographic area. The method also includes obtaining an image depicting one or more physical objects absent from the first panoramic imagery. Further, the method includes transforming the first panoramic imagery into second panoramic imagery depicting the one or more physical objects and including at least a portion of the first panoramic imagery.

Abstract: Aspects of the present invention relate to external user interfaces used in connection with head worn computers (HWC).

Abstract: A system for the mass production of “personalized” health and beauty formulations is provided that is then produced on-demand production thereof. A user selects specific personal or product attributes through an interactive selection process either online or at a retail location. An individual product recipe is then created from an interactive ingredient database, and a detailed production formulation is then enabling through an automated, on demand production cell in which ingredients are either sequentially or simultaneously dosed into an in-situ mixing container. Mixing of liquids occurs after the container is sealed and the same container provides the final user packaging. Manufacturing control, labeling, packaging and compliance traceability are all codified, tracked, traced and saved through the entire integrated selection and production system.

Abstract: A measuring system for triangulation-based distance measuring device having a light emitting unit, a light receiving unit for detecting measuring light reflected from an object and a processing unit for deriving distance information based on a detected reflection of measuring light. The system comprises a visual guiding unit projecting a visual marker onto the object. The light emitting unit and the visual guiding unit provide a light reflection onto the object by emitting the measuring light and the projection of the visual marker onto the object. The measuring system comprises a camera, the field of view of the camera being greater than the field of view of the light receiving unit and the camera captures an image covering the light reflection and the projection of the visual marker and to provide image information according to a captured image.

Abstract: System and method for measuring diabetes mellitus condition of a subject is disclosed. The disclosed system and method includes thermal sensors for capturing thermal images and/or videos of a body part; and a processing engine to detect a predefined region of the body part in each frame of the captured images and/or videos. The processing engine segments one or more portions from the detected predefined region in each frame of the captured images and/or videos to identify a region of interest comprising major arteries in the segmented portions. Based on the ROI, the engine extracts pixel values, representing biosignals, from each frame of the captured images and/or videos so as to determine one or more parameters associated with the hemodynamic factors and a rate of atherosclerosis of the subject. Further, a risk score for the diabetes mellitus condition based on the determined parameters using computational models is measured.

Abstract: A configuration system uses multiple depth cameras to create a volumetric capture space around an electronically controllable industrial machine or system, referred to as a target system. The output of the cameras is processed to create a live 3D model of everything within the space. A remote operator can then navigate within this 3D model, for example from a desktop application, in order to view the target system from various perspectives in a live 3D telepresence. In addition to the live 3D model, a configuration system generates a 3D user interface for programming and configuring machines or target systems within the space in a spatially coherent way. Local operators can interact with the target system using mobile phones which track the target system in augmented reality. Any number of local operators can interact with a remote operator to simultaneously program and configure the target system.

Abstract: A stereo camera calibration method includes: controlling a stereo camera assembly to capture a sequence of stereo image pairs; simultaneously with each capture in the sequence, activating a rangefinder; responsive to each capture in the sequence, updating calibration data for point cloud generation by: detecting matching features in the stereo image pair, and updating a first portion of the calibration data based on the matched features; updating an alignment of the rangefinder relative to the stereo camera assembly, based on the updated first portion of the calibration data, and a detected position of a beam of the rangefinder in a first image of the stereo image pair; and updating a second portion of the calibration data based on the detected position of the beam of the rangefinder in the first image of the stereo image pair, the updated rangefinder alignment, and a depth measurement captured by the rangefinder.