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

Claim 0:
1. A system comprising:
a mixed reality device comprising a wearable headset and a handheld controller; a hardware computer processor;
a non-transitory computer readable medium having software instructions stored thereon, the software instructions executable by the hardware computer processor to cause the system to perform operations comprising:
accessing, from an imaging device, an image comprising a plurality of fiducial markers on a substrate;
applying, using a two-headed convolutional neural network, a plurality of stages of encoding to the image to generate an encoded image with reduced dimensionality;
applying a first neural network head of the two-headed convolutional neural network to the encoded image to determine two-dimensional locations of fiducial markers in the encoded image;
applying a second neural network head of the two-headed convolutional neural network to the encoded image to determine identifiers associated with respective fiducial markers detected in the encoded image;
determining, using a subpixel refinement component, a subpixel corner location based on the two-dimensional locations; and
determining a pose of the imaging device based at least on the subpixel corner location and the determined identifiers of the fiducial markers.