Patent ID: 11893789
Assignee: MAGIC LEAP, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 15:
16. A system for determining pose of a camera, the system comprising:
an encoder comprising one or more processors and performing spatial downsampling of an image acquired from an augmented reality headset to generate a spatially downsampled image;
a two-headed convolutional neural network comprising:
a first head that detects two-dimensional locations of fiducial boards in the spatially downsampled image;
a second head that determines identifiers encoded at the two-dimensional locations of fiducial boards in the spatially downsampled image;

a subpixel refinement component that receives as input image patches of the spatially downsampled image and, for each image patch, provides as output a subpixel corner location determined based on the two-dimensional locations of fiducial boards in the spatially downsampled image; and
a pose estimation component that determines a pose augmented reality headset based at least on the two-dimensional locations and the subpixel corner locations.