Patent ID: 11880034
Assignee: ROCKWELL COLLINS, INC.
Field: Optics (Instruments)
Classification: CPC G | IPC G

Claim 10:
11. A high-assurance head tracking system for a head worn display system, comprising:
at least one camera mounted to a mobile platform, the camera configured to capture one or more images associated with a head-worn display (HWD) worn by an operator of the mobile platform;
one or more sets of device-frame fiducial markers attached to the HWD;
one or more platform-frame fiducial markers fixed to the mobile platform, each platform-frame fiducial marker corresponding to position information of at least one constellation of marker elements relative to a platform reference frame;
one or more structured light sensors mountable in a mobile platform in a fixed orientation toward the operator, the one or more structured light sensors configured to:
project at least one structured light pattern onto the operator;
and
capture three-dimensional (3D) imagery associated with 1) the at least one structured light pattern; 2) a head of the operator; 3) the one or more platform-frame fiducial markers and 4) at least one device-frame fiducial marker of the one or more sets of device-frame fiducial markers;

one or more control processors in communication with the at least one camera, the one or more control processors configured to:
identify within the captured images at least one of 1) the one or more sets of device-frame fiducial markers or 2) the one or more platform-frame fiducial markers;
determine at least one initial device pose based on the one or more identified sets of device-frame fiducial markers, the initial device pose comprising a position of the HWD and an orientation of the HWD relative to the platform reference frame;
determine, based on the captured 3D imagery and at least one secondary marker location associated with the at least one device-frame fiducial marker, at least one head pose of the operator, the head pose comprising a position and an orientation of the head relative to the mobile platform;
verify the at least one head pose based on the position information corresponding to the one or more platform-frame fiducial markers associated with the captured 3D imagery;
and
correct the at least one initial device pose based on the at least one verified head pose.