Patent ID: 12210667

DETAILED DESCRIPTION

An overlay application for use with AR eyewear devices. The application enables a user of an eyewear device to view a medical image (e.g., a radiograph image of a target of interest, such as a tooth) presented as an overlay relative to the target. An image registration tool transforms the location, rotation, and scale of the original medical image so that the image overlay is closely aligned with the target, as viewed through the eyewear display, from any point of view.

Various implementations and details are described with reference to examples for presenting a medical image overlay in an augmented reality environment. In an example implementation, a method involves an eyewear device with a camera and display and includes storing a virtual marker including a marker location defined relative to a physical environment, and registering a medical image associated with a target, wherein the medical image includes an image location defined relative to the marker location. The method also includes determining a current eyewear device location relative to the marker location based on the frames of video data captured using the camera and presenting on the display a medical image overlay at the image location according to the current eyewear device location. The medical image overlay includes one or more of the registered medical images, presented on the display according to a transparency value. The medical image overlay, including the transparency value, can be adjusted and controlled using voice commands, gestures, or inputs to a touchpad.

In another example implementation, the method includes selectively presenting a medical image overlay that includes a plurality of medical images. In this example, the method includes determining, based on the captured frames of video data, whether a medical image location is detected within the field of view of the camera and, in response, selectively presenting the medical image associated with the detected image location.

Although the various systems and methods are described herein with reference to dental procedures, the technology described herein may be applied to essentially any type of activity or work in which an image overlay is desired. For example, an image overlay is a desired tool for activities like dentistry, medical examinations, surgery, industrial applications, quality control activities, inspections, surveys, and investigations of all kinds.

The following detailed description includes systems, methods, techniques, instruction sequences, and computer program products illustrative of examples set forth in the disclosure. Numerous details and examples are included for the purpose of providing a thorough understanding of the disclosed subject matter and its relevant teachings. Those skilled in the relevant art, however, may understand how to apply the relevant teachings without such details. Aspects of the disclosed subject matter are not limited to the specific devices, systems, and methods described because the relevant teachings can be applied or practiced in a variety of ways. The terminology and nomenclature used herein is for the purpose of describing particular aspects only and is not intended to be limiting. In general, well-known instruction instances, protocols, structures, and techniques are not necessarily shown in detail.

The term “connect,” “connected,” “couple,” and “coupled” as used herein refers to any logical, optical, physical, or electrical connection, including a link or the like by which the electrical or magnetic signals produced or supplied by one system element are imparted to another coupled or connected system element. Unless described otherwise, coupled, or connected elements or devices are not necessarily directly connected to one another and may be separated by intermediate components, elements, or communication media, one or more of which may modify, manipulate, or carry the electrical signals. The term “on” means directly supported by an element or indirectly supported by the element through another element integrated into or supported by the element.

The term “proximal” is used to describe an item or part of an item that is situated near, adjacent, or next to an object or person; or that is closer relative to other parts of the item, which may be described as “distal.” For example, the end of an item nearest an object may be referred to as the proximal end, whereas the generally opposing end may be referred to as the distal end.

The orientations of the eyewear device, associated components and any complete devices incorporating an eye scanner and camera such as shown in any of the drawings, are given by way of example only, for illustration and discussion purposes. In operation for a particular variable optical processing application, the eyewear device may be oriented in any other direction suitable to the particular application of the eyewear device, for example up, down, sideways, or any other orientation. Also, to the extent used herein, any directional term, such as front, rear, inwards, outwards, towards, left, right, lateral, longitudinal, up, down, upper, lower, top, bottom and side, are used by way of example only, and are not limiting as to direction or orientation of any optic or component of an optic constructed as otherwise described herein.

Advanced AR technologies, such as computer vision and object tracking, may be used to produce a perceptually enriched and immersive experience. Computer vision algorithms extract three-dimensional data about the physical world from the data captured in digital images or video. Object recognition and tracking algorithms are used to detect an object in a digital image or video, estimate its orientation or pose, and track its movement over time.

Additional objects, advantages and novel features of the examples will be set forth in part in the following description, and in part will become apparent to those skilled in the art upon examination of the following and the accompanying drawings or may be learned by production or operation of the examples. The objects and advantages of the present subject matter may be realized and attained by means of the methodologies, instrumentalities and combinations particularly pointed out in the appended claims.

In sample configurations, eyewear devices with augmented reality (AR) capability are used in the systems described herein. Eyewear devices are desirable to use in the system described herein as such devices are scalable, customizable to enable personalized experiences, enable effects to be applied anytime, anywhere, and ensure user privacy by enabling only the user to see the transmitted information. An eyewear device such as SPECTACLES™ available from Snap, Inc. of Santa Monica, California, may be used without any specialized hardware in a sample configuration.

As shown inFIGS.1A-1D, the eyewear device100includes a first camera114A and a second camera114B. The cameras114capture image information for a scene from separate viewpoints. The captured images may be used to project a three-dimensional display onto an image display for three dimensional (3D) viewing.

The cameras114are sensitive to the visible-light range wavelength. Each of the cameras114define a different frontward facing field of view, which are overlapping to enable generation of 3D depth images; for example, a first camera114A defines a first field of view111A and a second camera114B defines a second field of view111B. Generally, a “field of view” is the part of the scene that is visible through the camera at a particular position and orientation in space. The fields of view111have an overlapping field of view304(FIG.3). Objects or object features outside the field of view111when the camera captures the image are not recorded in a raw image (e.g., photograph or picture). The field of view describes an angle range or extent, which the image sensor of the camera114picks up electromagnetic radiation of a given scene in a captured image of the given scene. Field of view can be expressed as the angular size of the view cone; i.e., an angle of view. The angle of view can be measured horizontally, vertically, or diagonally.

In an example configuration, one or both cameras114has a field of view of 100° and a resolution of 480×480 pixels. The “angle of coverage” describes the angle range that a lens of the cameras114can effectively image. Typically, the camera lens produces an image circle that is large enough to cover the film or sensor of the camera completely, possibly including some vignetting (e.g., a darkening of the image toward the edges when compared to the center). If the angle of coverage of the camera lens does not fill the sensor, the image circle will be visible, typically with strong vignetting toward the edge, and the effective angle of view will be limited to the angle of coverage.

Examples of suitable cameras114include a high-resolution complementary metal-oxide-semiconductor (CMOS) image sensor and a digital VGA camera (video graphics array) capable of resolutions of 480p (e.g., 640×480 pixels), 720p, 1080p, or greater. Other examples include cameras114that can capture high-definition (HD) video at a high frame rate (e.g., thirty to sixty frames per second, or more) and store the recording at a resolution of 1216 by 1216 pixels (or greater).

The eyewear device100may capture image sensor data from the cameras114along with geolocation data, digitized by an image processor, for storage in a memory. The cameras114capture respective raw images (e.g., left and right raw images) in the two-dimensional space domain that comprise a matrix of pixels on a two-dimensional coordinate system that includes an X-axis for horizontal position and a Y-axis for vertical position. Each pixel includes a color attribute value (e.g., a red pixel light value, a green pixel light value, or a blue pixel light value); and a position attribute (e.g., an X-axis coordinate and a Y-axis coordinate).

In order to capture stereo images for later display as a 3D projection, the image processor412(FIG.4) may be coupled to the cameras114to receive and store the visual image information. The image processor412, or another processor, controls operation of the cameras114to act as a stereo camera simulating human binocular vision and may add a timestamp to each image. The timestamp on each pair of images allows display of the images together as part of a 3D projection. 3D projections produce an immersive, life-like experience that is desirable in a variety of contexts, including virtual reality (VR) and video gaming.

FIG.1Bis a perspective, cross-sectional view of a right corner110A of the eyewear device100ofFIG.1Adepicting the first camera114A, additional optical components, and electronics.FIG.1Cis a side view (left) of an example hardware configuration of an eyewear device100ofFIG.1A, which shows the second camera114B of the camera system.FIG.1Dis a perspective, cross-sectional view of a left corner110B of the eyewear device100ofFIG.1Cdepicting the second camera114B of the camera system, additional optical components, and electronics.

As shown in the example ofFIG.1B, the eyewear device100includes the first camera114A and a circuit board140A, which may be a flexible printed circuit board (PCB). A first hinge126A connects the right corner110A to a first temple125A of the eyewear device100. In some examples, components of the first camera114A, the flexible PCB140A, or other electrical connectors or contacts may be located on the first temple125A or the first hinge126A.

The right corner110A includes corner body190and a corner cap, with the corner cap omitted in the cross-section ofFIG.1B. Disposed inside the right corner110A are various interconnected circuit boards109, such as the flexible PCB140A, that include controller circuits for the first camera114A, microphone(s)139, speaker(s)191, low-power wireless circuitry (e.g., for wireless short range network communication via Bluetooth™), high-speed wireless circuitry (e.g., for wireless local area network communication via Wi-Fi).

The first camera114A is coupled to or disposed on the flexible PCB140A and is covered by a camera cover lens, which is aimed through opening(s) formed in the frame105. For example, the right rim107A of the frame105, shown inFIG.2A, is connected to the right corner110A and includes the opening(s) for the camera cover lens. The frame105includes a front side configured to face outward and away from the eye of the user. The opening for the camera cover lens is formed on and through the front or outward-facing side of the frame105. In the example, the first camera114A has an outward-facing field of view111A (shown inFIG.3) with a line of sight or perspective that is correlated with the right eye of the user of the eyewear device100. The camera cover lens can also be adhered to a front side or outward-facing surface of the right corner110A in which an opening is formed with an outward-facing angle of coverage, but in a different outwardly direction. The coupling can also be indirect via intervening components.

As shown in the example ofFIG.1D, the eyewear device100includes the second camera114B and a circuit board140B, which may be a flexible printed circuit board (PCB). A second hinge126B connects the left corner110B to a second temple125B of the eyewear device100. In some examples, components of the second camera114B, the flexible PCB140B, or other electrical connectors or contacts may be located on the second temple125B or the second hinge126B.

The left corner110B includes corner body190and a corner cap, with the corner cap omitted in the cross-section ofFIG.1D. Disposed inside the right corner110A are various interconnected circuit boards, such as the flexible PCB140B, that include controller circuits for the second camera114B.

The camera114are coupled to or disposed on respective flexible PCBs140and are covered by a camera cover lens, which is aimed through opening(s) formed in the frame105. For example, as shown inFIG.2A, the right rim107A of the frame105is connected to the right corner110A and includes the opening(s) for the camera cover lens and the left rim107B of the frame105is connected to the left corner110B and includes the opening(s) for the camera cover lens. The frame105includes a front side configured to face outward and away from the eye of the user. The opening for the camera cover lens is formed on and through the front or outward-facing side of the frame105. In the example, the cameras114have respective outward-facing fields of view111(shown inFIG.3) with a line of sight or perspective that is correlated with a respective eye of the user of the eyewear device100. The camera cover lenses can also be adhered to a front side or outward-facing surface of the respective corners110in which an opening is formed with an outward-facing angle of coverage, but in a different outwardly direction. The coupling can also be indirect via intervening components.

FIGS.2A and2Bdepict example hardware configurations of the eyewear device100, including two different types of image displays. The eyewear device100is sized and shaped in a form configured for wearing by a user. The form of eyeglasses is shown in the illustrated examples. The eyewear device100can take other forms and may incorporate other types of frameworks; for example, a headgear, a headset, or a helmet.

In the eyeglasses example, eyewear device100includes a frame105including a right rim107A connected to a left rim107B via a bridge106configured to receive a nose of the user to support the eyewear device100on the user's head. The right rim107A includes a first aperture175A, which holds a first optical element180A. The left rim107B includes a second aperture175B, which holds a second optical element180B. As shown inFIG.2B, each optical element180A,180B in some implementations includes an integrated image display (e.g., a first display182A and a second display182B). As used herein, the term “lens” is meant to include transparent or translucent pieces of glass or plastic having curved or flat surfaces that cause light to converge or diverge or that cause little or no convergence or divergence.

A touch-sensitive input device, such as a touchpad181is positioned on the first temple125A. As shown, the touchpad181may have a boundary that is plainly visible or includes a raised or otherwise tactile edge that provides feedback to the user about the location and boundary of the touchpad181; alternatively, the boundary may be subtle and not easily seen or felt. The eyewear device100may include a touchpad on the other side that operates independently or in conjunction with the touchpad181.

The surface of the touchpad181is configured to detect finger touches, taps, and gestures (e.g., moving touches) for use with a graphical user interface (GUI) displayed by the eyewear device, on an image display, to allow the user to navigate through and select menu options in an intuitive manner, which enhances and simplifies the user experience.

Detection of finger inputs on the touchpad181can enable several functions. For example, touching anywhere on the touchpad181may cause the GUI to display or highlight an item on the image display, which may be projected onto at least one of the optical assemblies180. Tapping or double tapping on the touchpad181may select an item or icon. Sliding or swiping a finger in a particular direction (e.g., from front to back, back to front, up to down, or down to) may cause the items or icons to slide or scroll in a particular direction; for example, to move to a next item, icon, video, image, page, or slide. Sliding the finger in another direction may slide or scroll in the opposite direction; for example, to move to a previous item, icon, video, image, page, or slide. The touchpad181can be positioned essentially anywhere on the eyewear device100.

In one example, an identified finger gesture of a single tap on the touchpad181, initiates selection or pressing of a GUI element in the image presented on the image display of the optical assembly180. An adjustment to the image presented on the image display of the optical assembly180based on the identified finger gesture can be a primary action which selects or submits the GUI element on the image display of the optical assembly180for further display or execution.

FIG.2Ais an example hardware configuration for the eyewear device100in which the right corner110A supports a microphone139and a speaker191. The microphone139includes a transducer that converts sound into a corresponding electrical audio signal. The microphone139in the illustrated example is positioned with an opening that faces inward toward the wearer, to facilitate reception of the sound waves, such as human speech including verbal commands and questions. Additional or differently oriented openings may be implemented. In other example configurations, the eyewear device100is coupled to one or more microphones139, configured to operate together or independently, and positioned at various locations on the eyewear device100.

The speaker191includes an electro-acoustic transducer that converts an electrical audio signal into a corresponding sound. The speaker191is controlled by one of the processors422,432or by an audio processor413(FIG.4). The speaker191in this example includes a series of oblong apertures, as shown, that face inward to direct the sound toward the wearer. Additional or differently oriented apertures may be implemented. In other example configurations, the eyewear device100is coupled to one or more speakers191, configured to operate together (e.g., in stereo, in zones to generate surround sound) or independently, and positioned at various locations on the eyewear device100. For example, one or more speakers191may be incorporated into the frame105, temples125, or corners110of the eyewear device100.

Although shown inFIG.2AandFIG.2Bas having two optical elements180, the eyewear device100can include other arrangements, such as a single optical element (or it may not include any optical element180), depending on the application or the intended user of the eyewear device100. As further shown, eyewear device100includes a right corner110A adjacent the right lateral side170A of the frame105and a left corner110B adjacent the left lateral side170B of the frame105. The corners110may be integrated into the frame105on the respective sides170(as illustrated) or implemented as separate components attached to the frame105on the respective sides170. Alternatively, the corners110A,110B may be integrated into temples (not shown) attached to the frame105.

In one example, each image display of optical assembly180includes an integrated image display (e.g., a first display182A and a second display182B). As shown inFIG.2A, each optical assembly180has a display182that includes a suitable display matrix177, such as a liquid crystal display (LCD), an organic light-emitting diode (OLED) display, or other such display. Each optical assembly180also includes an optical layer or layers176, which can include lenses, optical coatings, prisms, mirrors, waveguides, optical strips, and other optical components in any combination. The optical layers (shown as176A-N inFIG.2A) can include a prism having a suitable size and configuration and including a first surface for receiving light from a display matrix and a second surface for emitting light to the eye of the user. The prism of the optical layers176A-N extends over all or at least a portion of the respective apertures175formed in the left and right rims107to permit the user to see the second surface of the prism when the eye of the user is viewing through the corresponding rims107. The first surface of the prism of the optical layers176A-N faces upwardly from the frame105and the display matrix177overlies the prism so that photons and light emitted by the display matrix177impinge the first surface. The prism is sized and shaped so that the light is refracted within the prism and is directed toward the eye of the user by the second surface of the prism of the optical layers176A-N. In this regard, the second surface of the prism of the optical layers176A-N can be convex to direct the light toward the center of the eye. The prism can optionally be sized and shaped to magnify the image projected by the display matrix177, and the light travels through the prism so that the image viewed from the second surface is larger in one or more dimensions than the image emitted from the display matrix177.

In one example, the optical layers176A-N may include an LCD layer that is transparent (keeping the lens open) unless and until a voltage is applied which makes the layer opaque (closing or blocking the lens). The image processor412on the eyewear device100may execute programming to apply the voltage to the LCD layer in order to produce an active shutter system, making the eyewear device100suitable for viewing visual content when displayed as a 3D projection. Technologies other than LCD may be used for the active shutter mode, including other types of reactive layers that are responsive to a voltage or another type of input.

In another example, the image display device of optical assembly180has a display182that includes a projection image display as shown inFIG.2B. Each optical assembly180includes a respective laser projector150, such as a three-color laser projector using a scanning mirror or galvanometer. Each laser projector150is disposed in or on a respective temples125of the eyewear device100. Each optical assembly180, in this example, includes one or more optical strips (shown as155A-N inFIG.2B), which are spaced apart and across the width of the lens of each optical assembly180or across a depth of the lens between the front surface and the rear surface of the lens.

As the photons projected by the laser projector150travel across the lens of each optical assembly180, the photons encounter the optical strips155A-N. When a particular photon encounters a particular optical strip, the photon is either redirected toward the user's eye, or it passes to the next optical strip. A combination of modulation of laser projector150, and modulation of optical strips, control specific photons or beams of light. In an example, a processor controls optical strips155A-N by initiating mechanical, acoustic, or electromagnetic signals. Although shown as having two optical assemblies180, the eyewear device100can include other arrangements, such as a single or three optical assemblies, or each optical assembly180may have different arrangements depending on the application or intended user of the eyewear device100.

FIG.3is a diagrammatic depiction of a 3D scene306, a first raw image302A captured using a first camera114A, and a second raw image302B captured using a second camera114B. The first field of view111A may overlap, as shown, with the second field of view111B. The overlapping fields of view304represents that portion of the image captured using both cameras114. The term ‘overlapping’ when referring to field of view means the matrix of pixels in the generated raw images overlap by thirty percent (30%) or more. ‘Substantially overlapping’ means the matrix of pixels in the generated raw images—or in the infrared image of scene—overlap by fifty percent (50%) or more. As described herein, the two raw images302may be processed to include a timestamp, which allows the images to be displayed together as part of a three-dimensional projection.

For the capture of stereo images, as illustrated inFIG.3, a pair of raw red, green, and blue (RGB) images are captured of a 3D scene306at a given moment in time—a first raw image302A captured using the first camera114A and second raw image302B captured using the second camera114B. When the pair of raw images302are processed (e.g., by the image processor412), depth images are generated. The generated depth images may be viewed on the optical assemblies180of an eyewear device, on another display (e.g., the image display580on a mobile device401), or on a screen.

The generated depth images are in the three-dimensional space domain and can comprise a matrix of vertices on a three-dimensional location coordinate system that includes an X axis for horizontal position (e.g., length), a Y axis for vertical position (e.g., height), and a Z axis for depth (e.g., distance). Each vertex may include a color attribute (e.g., a red pixel light value, a green pixel light value, or a blue pixel light value); a position attribute (e.g., an X location coordinate, a Y location coordinate, and a Z location coordinate); a texture attribute; a reflectance attribute; or a combination thereof. The texture attribute quantifies the perceived texture of the depth image, such as the spatial arrangement of color or intensities in a region of vertices of the depth image.

FIG.4is a functional block diagram of an example overlay system400that includes an eyewear device100, a mobile device401, and a server system498connected via various networks495such as the Internet. As shown, the overlay system400includes a low-power wireless connection425and a high-speed wireless connection437between the eyewear device100and the mobile device401.

The eyewear device100includes one or more cameras114that capture still images, video images, or both still and video images, as described herein. The cameras114may have a direct memory access (DMA) to high-speed circuitry430and function as a stereo camera. The cameras114may be used to capture initial-depth images that may be rendered into three-dimensional (3D) models that are texture-mapped images of a red, green, and blue (RGB) imaged scene. The device100may also include a depth sensor that uses infrared signals to estimate the position of objects relative to the device100. The depth sensor in some examples includes one or more infrared emitter(s) and infrared camera(s)410.

The eyewear device100further includes two image displays of optical assemblies180(one associated with the right side170A and one associated with the left side170B). The eyewear device100also includes an image display driver442, an image processor412, low-power circuitry420, and high-speed circuitry430. The image displays of optical assemblies180are for presenting images, including still images, video images, or still and video images. The image display driver442is coupled to the image displays of optical assemblies180in order to control the display of images.

The components shown inFIG.4for the eyewear device100are located on one or more circuit boards, for example a printed circuit board (PCB) or flexible printed circuit (FPC), located in the rims or temples. Alternatively, or additionally, the depicted components can be located in the corners, frames, hinges, or bridge of the eyewear device100. The cameras114include digital camera elements such as a complementary metal-oxide-semiconductor (CMOS) image sensor, a charge-coupled device, a lens, or any other respective visible or light capturing elements that may be used to capture data, including still images or video of scenes with unknown objects.

As shown inFIG.4, high-speed circuitry430includes a high-speed processor432, a memory434, and high-speed wireless circuitry436. In the example, the image display driver442is coupled to the high-speed circuitry430and operated by the high-speed processor432in order to drive the image displays of optical assemblies180. High-speed processor432may be essentially any processor capable of managing high-speed communications and operation of any general computing system. High-speed processor432includes processing resources needed for managing high-speed data transfers on high-speed wireless connection437to a wireless local area network (WLAN) using high-speed wireless circuitry436.

In some examples, the high-speed processor432executes an operating system such as a LINUX operating system or other such operating system of the eyewear device100and the operating system is stored in memory434for execution. In addition to any other responsibilities, the high-speed processor432executes a software architecture for the eyewear device100that is used to manage data transfers with high-speed wireless circuitry436. In some examples, high-speed wireless circuitry436is configured to implement Institute of Electrical and Electronic Engineers (IEEE) 802.11 communication standards, also referred to herein as Wi-Fi. In other examples, other high-speed communications standards may be implemented by high-speed wireless circuitry436.

The low-power circuitry420includes a low-power processor422and low-power wireless circuitry424. The low-power wireless circuitry424and the high-speed wireless circuitry436of the eyewear device100can include short-range transceivers (Bluetooth™ or Bluetooth Low-Energy (BLE)) and wireless wide, local, or wide-area network transceivers (e.g., cellular or Wi-Fi). Mobile device401, including the transceivers communicating via the low-power wireless connection425and the high-speed wireless connection437, may be implemented using details of the architecture of the eyewear device100, as can other elements of the network495.

Memory434includes any storage device capable of storing various data and applications, including, among other things, camera data generated by the cameras114A,114B, the infrared camera(s)410, the image processor412, and images generated for display by the image display driver442on the image display of each optical assembly180. Although the memory434is shown as integrated with high-speed circuitry430, the memory434in other examples may be an independent, standalone element of the eyewear device100. In some such examples, electrical routing lines may provide a connection through a chip that includes the high-speed processor432from the image processor412or low-power processor422to the memory434. In other examples, the high-speed processor432may manage addressing of memory434such that the low-power processor422will boot the high-speed processor432any time that a read or write operation involving memory434is to be performed.

As shown inFIG.4, various elements of the eyewear device100can be coupled to the low-power circuitry420, high-speed circuitry430, or both. For example, the infrared camera410(including in some implementations an infrared emitter), the user input elements491(e.g., a button switch, a touchpad181, a microphone139), and the inertial measurement unit (IMU)472may be coupled to the low-power circuitry420, high-speed circuitry430, or both.

As shown inFIG.5, which is discussed if further detail below, the CPU540of the mobile device401may be coupled to a camera system570, a mobile display driver582, a user input layer591, and a memory540A.

The server system498may be one or more computing devices as part of a service or network computing system, for example, that include a processor, a memory, and network communication interface to communicate over the network495with an eyewear device100and a mobile device401.

The output components of the eyewear device100include visual elements, such as the image displays associated with each lens or optical assembly180as described with reference toFIGS.2A and2B(e.g., a display such as a liquid crystal display (LCD), a plasma display panel (PDP), a light emitting diode (LED) display, a projector, or a waveguide). The eyewear device100may include a user-facing indicator (e.g., an LED, a speaker191, or a vibrating actuator), or an outward-facing signal (e.g., an LED, a speaker191). The image displays of each optical assembly180are driven by the image display driver442. In some example configurations, the output components of the eyewear device100further include additional indicators such as audible elements (e.g., speakers191), tactile components (e.g., an actuator such as a vibratory motor to generate haptic feedback), and other signal generators. For example, the device100may include a user-facing set of indicators, and an outward-facing set of signals. The user-facing set of indicators are configured to be seen or otherwise sensed by the user of the device100. For example, the device100may include an LED display positioned so the user can see it, one or more speakers191positioned to generate a sound the user can hear, or an actuator to provide haptic feedback the user can feel. The outward-facing set of signals are configured to be seen or otherwise sensed by an observer near the device100. Similarly, the device100may include an LED, a speaker191, or an actuator that is configured and positioned to be sensed by an observer.

The user input elements491of the eyewear device100may include alphanumeric input components (e.g., a touch screen or touchpad181configured to receive alphanumeric input, a photo-optical keyboard, or other alphanumeric-configured elements), pointer-based input components (e.g., a mouse, a touchpad181, a trackball, a joystick, a motion sensor, or other pointing instruments), tactile input components (e.g., a button switch, a touch screen or touchpad181that senses the location, force or location and force of touches or touch gestures, or other tactile-configured elements), and audio input components (e.g., a microphone139), and the like. The mobile device401and the server system498may include alphanumeric, pointer-based, tactile, audio, and other input components.

In some examples, the eyewear device100includes a collection of motion-sensing components referred to as an IMU472. The motion-sensing components may be micro-electro-mechanical systems (MEMS) with microscopic moving parts, often small enough to be part of a microchip. The IMU472in some example configurations includes an accelerometer, a gyroscope, and a magnetometer. The accelerometer senses the linear acceleration of the device100(including the acceleration due to gravity) relative to three orthogonal axes (x, y, z). The gyroscope senses the angular velocity of the device100about three axes of rotation (pitch, roll, yaw). Together, the accelerometer and gyroscope can provide position, orientation, and motion data about the device relative to six axes (x, y, z, pitch, roll, yaw). The magnetometer, if present, senses the heading of the device100relative to magnetic north. The position of the device100may be determined by location sensors, such as a GPS unit473, one or more transceivers to generate relative position coordinates, altitude sensors or barometers, and other orientation sensors. Such positioning system coordinates can also be received over the wireless connections425,437from the mobile device401via the low-power wireless circuitry424or the high-speed wireless circuitry436.

The IMU472may include or cooperate with a digital motion processor or programming that gathers the raw data from the components and compute a number of useful values about the position, orientation, and motion of the device100. For example, the acceleration data gathered from the accelerometer can be integrated to obtain the velocity relative to each axis (x, y, z); and integrated again to obtain the position of the device100(in linear coordinates, x, y, and z). The angular velocity data from the gyroscope can be integrated to obtain the position of the device100(in spherical coordinates). The programming for computing these useful values may be stored in memory434and executed by the high-speed processor432of the eyewear device100.

The eyewear device100may optionally include additional peripheral sensors, such as biometric sensors, specialty sensors, or display elements integrated with eyewear device100. For example, peripheral device elements may include any I/O components including output components, motion components, position components, or any other such elements described herein. For example, the biometric sensors may include components to detect expressions (e.g., hand expressions, facial expressions, vocal expressions, body gestures, or eye tracking), to measure bio signals (e.g., blood pressure, heart rate, body temperature, perspiration, or brain waves), or to identify a person (e.g., identification based on voice, retina, facial characteristics, fingerprints, or electrical bio signals such as electroencephalogram data), and the like.

The mobile device401may be a smartphone, tablet, laptop computer, access point, or any other such device capable of connecting with eyewear device100using both a low-power wireless connection425and a high-speed wireless connection437. Mobile device401is connected to server system498and network495. The network495may include any combination of wired and wireless connections.

The overlay system400, as shown inFIG.4, includes a computing device, such as mobile device401, coupled to an eyewear device100over a network495. The overlay system400includes a memory (e.g., a non-transitory computer readable media) for storing instructions and a processor for executing the instructions. In some implementations, the memory and processing functions of the overlay system400can be shared or distributed across the processors and memories of the eyewear device100, the mobile device401, and/or the server system498.

In some implementations, the overlay system400includes one or more elements or modules, referred to herein as an overlay application910, an image registration tool912, a localization system915, an image processing system920, and a voice recognition module925.

The overlay application910in some implementations renders and presents a medical image overlay800on the display182, as described herein.

The image registration tool912in some implementations includes any of a variety of image registration or image alignment algorithms for transforming one or more sets of data (e.g., medical image data) into a single or common coordinate system. The field of image registration applies a variety of transformation models, including linear models, vector space models, elastic or non-rigid models, quadratics, parameterized, diffeomorphic mapping, vector space models, and other mathematical and computational models. In the context of medical imaging, the image registration tool912in some implementations transforms the location, orientation, and size of a medical image810of a target50according to a single coordinate system (e.g., a physical coordinate system610associated with a physical environment600) such that, when presented on a display the registered medical image appears at a location, in an orientation, and at a size that corresponds with the location, orientation, and size of the target50.

The localization system915in some implementations obtains localization data for use in determining the position of the eyewear device100relative to a physical environment600. For example, the localization system915may access the frames of video data900captured using the camera114B to determine the eyewear device location840in three-dimensional coordinates relative to the physical environment (with or without reference to data from other sources, such as an inertial measurement unit or IMU472). As used herein, the term ‘frames of video data’ refers to the video motion data captured using the one or more cameras114A,114B coupled to the eyewear device100, including images, spatial data, and related information captured using essentially any sensor component of a camera in any form and at any sample rate. In some implementations, the localization data may be derived from the frames of motion data captured using the IMU472, from data gathered by a GPS unit473, or from a combination thereof.

The image processing system920in some implementations presents a medical image overlay800, as described herein, on a display182of a respective optical assembly180, in cooperation with the image display driver442and the image processor412. The medical image overlay800in some implementations includes one or more medical images810that have been registered to the physical environment600using the image registration tool912.

The voice recognition module925in some implementations receives human speech, converts the received speech into frames of audio data, identifies an inquiry or a request based on the audio data, and executes an action that is correlated with and responsive to the identified inquiry or request.

FIG.5is a high-level functional block diagram of an example mobile device401. Mobile device401includes a flash memory540A which stores programming to be executed by the CPU540to perform all or a subset of the functions described herein.

The mobile device401may include a camera570that comprises at least two cameras (e.g., first and second visible-light cameras with overlapping fields of view) or at least one camera and a depth sensor with substantially overlapping fields of view. Flash memory540A may further include multiple images or video, which are generated via the camera570.

As shown, the mobile device401includes an image display580, a mobile display driver582to control the image display580, and a display controller584. In the example ofFIG.5, the image display580includes a user input layer591(e.g., a touchscreen) that is layered on top of or otherwise integrated into the screen used by the image display580.

Examples of touchscreen-type mobile devices that may be used include (but are not limited to) a smart phone, a personal digital assistant (PDA), a tablet computer, a laptop computer, or other portable device. However, the structure and operation of the touchscreen-type devices is provided by way of example; the subject technology as described herein is not intended to be limited thereto. For purposes of this discussion,FIG.5therefore provides a block diagram illustration of the example mobile device401with a user interface that includes a touchscreen input layer591for receiving input (by touch, multi-touch, or gesture, and the like, by hand, stylus, or other tool) and an image display580for displaying content.

As shown inFIG.5, the mobile device401includes at least one digital transceiver (XCVR)510, shown as WWAN XCVRs, for digital wireless communications via a wide-area wireless mobile communication network. The mobile device401also includes additional digital or analog transceivers, such as short-range transceivers (XCVRs)520for short-range network communication, such as via NFC, VLC, DECT, ZigBee, Bluetooth™, or Wi-Fi. For example, short range XCVRs520may take the form of any available two-way wireless local area network (WLAN) transceiver of a type that is compatible with one or more standard protocols of communication implemented in wireless local area networks, such as one of the Wi-Fi standards under IEEE 802.11.

To generate location coordinates for positioning of the mobile device401, the mobile device401can include a global positioning system (GPS) receiver. Alternatively, or additionally the mobile device401can utilize either or both the short range XCVRs520and WWAN XCVRs510for generating location coordinates for positioning. For example, cellular network, Wi-Fi, or Bluetooth™ based positioning systems can generate accurate location coordinates, particularly when used in combination. Such location coordinates can be transmitted to the eyewear device over one or more network connections via XCVRs510,520.

The mobile device401in some examples includes a collection of motion-sensing components referred to as an inertial measurement unit (IMU)572for sensing the position, orientation, and motion of the mobile device401. The motion-sensing components may be micro-electro-mechanical systems (MEMS) with microscopic moving parts, often small enough to be part of a microchip. The inertial measurement unit (IMU)572in some example configurations includes an accelerometer, a gyroscope, and a magnetometer. The accelerometer senses the linear acceleration of the mobile device401(including the acceleration due to gravity) relative to three orthogonal axes (x, y, z). The gyroscope senses the angular velocity of the mobile device401about three axes of rotation (pitch, roll, yaw). Together, the accelerometer and gyroscope can provide position, orientation, and motion data about the device relative to six axes (x, y, z, pitch, roll, yaw). The magnetometer, if present, senses the heading of the mobile device401relative to magnetic north.

The IMU572may include or cooperate with a digital motion processor or programming that gathers the raw data from the components and compute a number of useful values about the position, orientation, and motion of the mobile device401. For example, the acceleration data gathered from the accelerometer can be integrated to obtain the velocity relative to each axis (x, y, z); and integrated again to obtain the position of the mobile device401(in linear coordinates, x, y, and z). The angular velocity data from the gyroscope can be integrated to obtain the position of the mobile device401(in spherical coordinates). The programming for computing these useful values may be stored in on or more memory elements540A,540B,540C and executed by the CPU540of the mobile device401.

The transceivers510,520(i.e., the network communication interface) conforms to one or more of the various digital wireless communication standards utilized by modern mobile networks. Examples of WWAN transceivers510include (but are not limited to) transceivers configured to operate in accordance with Code Division Multiple Access (CDMA) and 3rd Generation Partnership Project (3GPP) network technologies including, for example and without limitation, 3GPP type 2 (or 3GPP2) and LTE, at times referred to as “4G.” For example, the transceivers510,520provide two-way wireless communication of information including digitized audio signals, still image and video signals, web page information for display as well as web-related inputs, and various types of mobile message communications to/from the mobile device401.

The mobile device401further includes a microprocessor that functions as a central processing unit (CPU); shown as CPU540inFIG.4. A processor is a circuit having elements structured and arranged to perform one or more processing functions, typically various data processing functions. Although discrete logic components could be used, the examples utilize components forming a programmable CPU. A microprocessor for example includes one or more integrated circuit (IC) chips incorporating the electronic elements to perform the functions of the CPU. The CPU540, for example, may be based on any known or available microprocessor architecture, such as a Reduced Instruction Set Computing (RISC) using an ARM architecture, as commonly used today in mobile devices and other portable electronic devices. Of course, other arrangements of processor circuitry may be used to form the CPU540or processor hardware in smartphone, laptop computer, and tablet.

The CPU540serves as a programmable host controller for the mobile device401by configuring the mobile device401to perform various operations, for example, in accordance with instructions or programming executable by CPU540. For example, such operations may include various general operations of the mobile device, as well as operations related to the programming for applications on the mobile device. Although a processor may be configured by use of hardwired logic, typical processors in mobile devices are general processing circuits configured by execution of programming.

The mobile device401includes a memory or storage system, for storing programming and data. In the example, the memory system may include a flash memory540A, a random-access memory (RAM)540B, and other memory components540C, as needed. The RAM540B serves as short-term storage for instructions and data being handled by the CPU540, e.g., as a working data processing memory. The flash memory540A typically provides longer-term storage.

Hence, in the example of mobile device401, the flash memory540A is used to store programming or instructions for execution by the CPU540. Depending on the type of device, the mobile device401stores and runs a mobile operating system through which specific applications are executed. Examples of mobile operating systems include Google Android, Apple iOS (for iPhone or iPad devices), Windows Mobile, Amazon Fire OS, RIM BlackBerry OS, or the like.

The processor432within the eyewear device100may construct a map of the environment surrounding the eyewear device100, determine a location of the eyewear device within the map of the environment, and determine a relative position of the eyewear device to one or more objects in the mapped environment. The processor432may construct the map and determine location and position information using a simultaneous localization and mapping (SLAM) algorithm applied to data received from one or more sensors. Sensor data includes images received from one or both of the cameras114A,114B, distance(s) received from a laser range finder, position information received from a GPS unit473, motion and acceleration data received from an IMU572, or a combination of data from such sensors, or from other sensors that provide data useful in determining positional information. In the context of augmented reality, a SLAM algorithm is used to construct and update a map of an environment, while simultaneously tracking and updating the location of a device (or a user) within the mapped environment. The mathematical solution can be approximated using various statistical methods, such as particle filters, Kalman filters, extended Kalman filters, and covariance intersection. In a system that includes a high-definition (HD) video camera that captures video at a high frame rate (e.g., thirty frames per second), the SLAM algorithm updates the map and the location of objects at least as frequently as the frame rate; in other words, calculating and updating the mapping and localization thirty times per second.

Sensor data includes image(s) received from one or both cameras114A,114B, distance(s) received from a laser range finder, position information received from a GPS unit473, motion and acceleration data received from an IMU472, or a combination of data from such sensors, or from other sensors that provide data useful in determining positional information.

FIG.6depicts an example physical environment600along with elements that are useful when using a SLAM algorithm and other types of tracking applications (e.g., natural feature tracking (NFT), hand tracking, etc.). A user602of eyewear device100is present in an example physical environment600(which, inFIG.6, is an interior room). The processor432of the eyewear device100determines the position of the eyewear device100with respect to one or more physical objects604within the environment600using captured image data, constructs a map of the environment600using a coordinate system (e.g., a Cartesian coordinate system (x, y, z)) for the environment600, and determines the position relative to the coordinate system. Additionally, the processor432determines a head pose (roll, pitch, and yaw) of the eyewear device100within the environment by using two or more location points (e.g., three location points606a,606b, and606c) associated with a single object604a, or by using one or more location points606associated with two or more objects604a,604b,604c. The processor432of the eyewear device100may position a virtual object608(such as the key shown inFIG.6) within the environment600for viewing during an augmented reality experience.

The localization system915in some examples includes a virtual marker610aassociated with a virtual object608in the physical environment600. In an augmented reality environment, in some implementations, markers are registered at locations in the physical environment600to assist electronic devices with the task of tracking and updating the location of users, devices, and objects (virtual and physical) relative to the physical environment. Markers are sometimes registered to a high-contrast physical object, such as the relatively dark object, such as the framed picture604a, mounted on a lighter-colored wall, to assist cameras and other sensors with the task of detecting the marker. The markers may be assigned and registered in a memory by the eyewear device100operating within the environment. In some implementations, the markers are assigned and registered in the memory of other devices in the network.

The localization system915tracks physical objects and virtual objects within the physical environment600relative to the eyewear device100. For a physical object604(e.g., safe604c) the localization system915continuously analyzes captured images of the physical environment600to identify the object604and to determine its location relative to the eyewear device100(e.g., by applying a SLAM algorithm). The localization system915maintains and updates the determined location information for the physical object604in memory, thereby tracking the physical object604as the eyewear device100moves through the physical environment600. For a virtual object608(e.g., key) the localization system915establishes or designates an initial location for the virtual object608corresponding to a location or a physical object604in the environment600(or, in some implementations, at a location relative to the eyewear device100). The localization system915maintains and updates the virtual object608location information, for example, in accordance with a movement algorithm associated with the virtual object608, in response to movement of the eyewear device100through the environment, or a combination thereof, thereby tracking the virtual object608as the eyewear device100moves through the environment.

Markers can be encoded with or otherwise linked to information. A marker might include position information, a physical code (such as a bar code or a QR code; either visible to the user or hidden), or a combination thereof. A set of data associated with the marker is stored in the memory434of the eyewear device100. The set of data includes information about the marker610a, the marker's position (location and orientation), one or more virtual objects, or a combination thereof. The marker position may include three-dimensional coordinates for one or more marker landmarks616a, such as the corner of the generally rectangular marker610ashown inFIG.6. The marker location may be expressed relative to real-world geographic coordinates, a system of marker coordinates, a position of the eyewear device100, or other coordinate system. The one or more virtual objects associated with the marker610amay include any of a variety of materials, including still images, video, audio, tactile feedback, executable applications, interactive user interfaces and experiences, and combinations or sequences of such material. Any type of content capable of being stored in a memory and retrieved when the marker610ais encountered or associated with an assigned marker may be classified as a virtual object in this context. The virtual key608shown inFIG.6, for example, is a virtual object displayed as a still image, either 2D or 3D, at a marker location.

In one example, the marker610amay be registered in memory as being located near and associated with a physical object604a(e.g., the framed work of art shown inFIG.6). In another example, the marker may be registered in memory as being a particular position with respect to the eyewear device100.

FIG.7is a flow chart700of an example method of presenting a medical image overlay800on the display182B of an eyewear device100. Although the steps are described with reference to the eyewear device100described herein, other implementations of the steps described, for other types of devices, will be understood by one of skill in the art from the description herein. One or more of the steps shown and described may be performed simultaneously, in a series, in an order other than shown and described, or in conjunction with additional steps. Some steps may be omitted or, in some applications, repeated.

The overlay application910described herein, in some implementations, launches in response to receiving a selection through a user interface (e.g., selecting from a menu, pressing a button, using a touchpad) or through some other input means (e.g., a hand gesture detected in captured images, a finger touch681on the touchpad181, a voice command).

Block702inFIG.7recites an example step of capturing frames of video data900with the camera114A,114B of an eyewear device100. In some implementations, the process of capturing frames of video data900is ongoing during active use of the eyewear device100. In other examples, the process of capturing starts in response to receiving a selection through a user interface or through some other input means. The example method step, at block702, in some implementations, includes storing the captured frames of video data900in memory434on the eyewear device100, at least temporarily, such that the frames of video data900are available for uses including processing and analysis.

Block704inFIG.7recites an example step of storing a virtual marker801associated with a target of interest (e.g., a bone or a tooth) in a physical environment600. The process of storing a virtual marker801, in some implementations, includes a processor of the eyewear device100associating the virtual marker801with a marker location790in the physical environment600(as opposed to a position on a display182B). In this aspect, the virtual marker location790is defined relative to the physical environment (e.g., relative to a physical coordinate system610, as shown inFIG.8C). The marker location790in this example is fixed relative to the surrounding physical environment600, without regard to the display182B or the motion of the eyewear device100through the physical environment600.

FIG.8Cis a perspective illustration of two example virtual markers801A,801B as seen through a display182B. The virtual marker801A,801B in some implementations comprises a marker location790A,790B, and a virtual indicator802A,802B presented near the virtual marker801A,801B. The virtual indicator802A,802B in some implementations included a highlight (e.g., a circular mark as shown inFIG.8C) or indicia (e.g., visible, audible, or tactile) which is selectively presented on the display182B to facilitate identification of a virtual marker801A,801B. In some implementations the virtual indicator802A,802B includes a default element or shape which can be selected or changed through a user interface. The marker location790A,790B in some implementations, as shown inFIG.8C, is located near but not necessarily centered on the virtual marker801A,801B. In some implementations, the virtual marker801A,801B does not include a virtual indicator802A,80B or any other type of indicator.

In some implementations, the process of storing the virtual marker801includes presenting a virtual indicator802on the display182B (e.g., at or near the center of the display182B) as a visual guide. In this example, the user can place the virtual indicator802on or near any trial location for the marker location790(e.g., near a particular tooth). Then, in this example storing process, the overlay application910receives an input (e.g., a finger tap681on the touchpad181, a voice command, or a gesture) indicating where to place and store the virtual marker801. In other implementations, the process of storing the virtual marker801includes receiving a voice command or other input indicating a particular location (e.g., tooth number14, occlusal surface) relative to a physical environment600(e.g., a patient's mouth) which has been mapped and stored in memory. The process of storing the virtual marker801in some implementations includes using the touchpad181to control the position of a cursor (not shown) presented on then display182B so that the user can place the cursor at a current location (e.g., near a particular tooth) and execute a selection action and store the virtual marker801at the current location.

The eyewear device100in some implementations includes a voice recognition module925, as described herein, and a microphone139coupled to a speaker191. The voice recognition module925in some implementations configures the processor432to perceive human speech, convert the received speech into frames of audio data, identify a first inquiry based on converted frames of audio data, and then perform an action in response to and in accordance with the identified first inquiry. For example, the human speech may include a verbal command (e.g., “set marker location”) and, in response, the identified first inquiry causes the overlay application910to execute a selection action and store the virtual marker801at the current location.

The process of storing the virtual marker801in some implementations includes, after a selection has been input, presenting a virtual indicator802on the display182B. If the selected marker location790(as indicated by the virtual indicator802) is acceptable, the user may accept the location790; if not, the user may cancel and select again.

Block706recites an example step of registering a medical image810associated with a target50, wherein the medical image810comprises an image location812relative to the marker location790.

As used herein, the term ‘medical image’ refers to and includes the information or data gathered by any of a variety of imaging technology, whether applied in the medical context or not, including but not limited to radiography (X-ray), computed tomography (CT), magnetic resonance imaging (MM), ultrasound, endoscopy, elastography, tactile imaging, thermography, functional imaging, positron emission tomography (PET), single-photon emission computed tomography (SPECT), and various types of photography.

As used herein, the term ‘target’ refers to and includes an item such as an object, a material, a substance, a structure, a tissue, or a cell, and any part or piece of such an item. A target may be biological in nature (e.g., human or animal tissue, such as bones or teeth). The term ‘target of interest’ refers to and includes the target and may include an area, region, or volume of space near or surrounding the target.

Although the overlay system400and overlay application910are described herein in the context of medical images and biological targets, the technology described may be applied to essentially any type of activity or work in which an image overlay is a useful or desired tool.

FIG.8Ais an illustration of a medical film42relative to target of interest (e.g., an upper tooth50U and a lower tooth50L) in an example process of capturing one or more medical images810(shown inFIG.8B). The upper tooth50U is characterized by an upper tooth axis54U. The lower tooth50L is characterized by a lower tooth axis54L. In this example, the medical film42is a bitewing film that includes a film holder40placed between the teeth50U,50L. The bitewing film42includes an upper film portion extending along an upper film axis814U and a lower film portion extending along a lower film axis814L. The x-ray beam30is directed along a beam direction34toward the film42.

FIG.8Bincludes an illustration of an example bitewing image810, an upper periapical image810U, and a lower periapical image810L. As shown, the periapical images810U,810L include in some implementations the full length of the teeth, from crown to root.

Referring again to block706, the medical image810in some implementations comprises an image location812relative to the marker location790. For example, as shown inFIG.8C, one of the example virtual markers801A is associated with a marker location790A which is defined (e.g., in three dimensions) relative to the physical environment600. The image location812includes three-dimensional coordinates and, in some implementations, a vector associated with the medical image810. In this example, the vector may define a plane (e.g., ten degrees, relative to the marker location790) and a distance (e.g., forty millimeters in length), such that the orientation and the size of the medical image810is part of the stored image location812.

The marker location790A shown inFIG.8Cis located near a bottom tooth. In some implementations, the medical image location812is defined relative to the marker location790. For example, as shown inFIG.8D, the lower medical image810L comprises a lower image location812L, which is defined relative to one or more marker locations790A,790B (shown inFIG.8C). In this aspect, the image locations812U,812L are defined relative to or otherwise permanently associated with one or more marker locations790A,790B in the physical environment600.

The example step of registering a medical image810at block706in some implementations includes applying or otherwise using an image registration tool912as described herein. The process of image registration includes transforming one or more sets of data (e.g., medical image data) having its own coordinates (e.g., location, orientation, size) into another coordinate system (e.g., a physical coordinate system610associated with a physical environment600). The image registration tool912in some implementations applies a linear transformation model and vector mathematics to transform the location, orientation, and size of a medical image810so that its location, orientation, and size appears to be relatively accurate when the medical image810is presented (e.g., on a display182) relative to a physical environment600.

The process of registering a medical image810in some implementations includes establishing the image location812relative to the target50(e.g., relative to the marker location790nearest the target50) such that the medical image810, when registered, will be presented as an overlay in the foreground relative to the target50. Referring again toFIG.8A, for example, the medical film42is located behind the target50(e.g., in the background relative to the upper tooth50U). If the upper image location812U were established at or near the location of the medical film42(e.g., behind the tooth50U) then the resulting medical image810U would be presented in the background (e.g., behind the upper tooth50U) where the medical image810U would not be viewable. Therefore, in order to present the medical image overlay800(e.g., medical image810u) in the foreground, the process of registering a medical image810U in some implementations (e.g., using the image registration tool912) includes establishing the image location812U in the foreground relative to the target50(e.g., in front of the upper tooth50U).

Block707recites an example step of registering a medical image810by transforming the medical image810according to a physical coordinate system610. The step at block707includes establishing a physical coordinate system610relative to the marker location790, as shown inFIG.8C. The process of transforming the medical image810in some implementations includes translation, rotation, and scaling. For example, applying a linear transformation model generally involves adjusting the translation (e.g., the location of the medical image810as defined by coordinates in two or three dimensions), the rotation (e.g., the angle of the medical image810), and scaling (e.g., the size of the medical image810) relative to the physical coordinate system610.

Block708recites an example step of estimating the eyewear device location840relative to the marker location790(e.g., where the virtual marker801and the selected tooth is located). After the marker registering process, as the eyewear device100moves through the physical environment600its location changes relative to the marker location790. The current electronic eyewear device location840in some implementations is estimated using the localization system915as described herein.

The localization system915on the eyewear device100in some implementations configures the processor432of the eyewear device100to obtain localization data based on the captured frames of video data900from the camera114A,114B, and in some implementations based on the motion data gathered by the IMU472. In some implementations, the localization system915constructs a virtual map of one or more objects within the camera field of view904using a SLAM algorithm, as described herein, updating the map and the location of objects at least as frequently as the camera114A,114B captures video data900. Frequent analysis of high-frequency video data900facilitates the detection of relatively subtle motions of the eyewear device100over time.

The step of estimating the electronic eyewear device location840relative to the marker location790in some implementations includes calculating a correlation between the marker location790and the current electronic eyewear device location840. The term correlation refers to and includes one or more vectors, matrices, formulas, or other mathematical expressions sufficient to define the three-dimensional distance between the marker location790and the current electronic eyewear device location840. The current electronic eyewear device location840is associated with the three-dimensional position and orientation (e.g., head pose, gaze direction) of the display182because the display182is supported by the frame of the eyewear device100. In this aspect, the process of correlation performs the function of calibrating the motion of the eyewear device100with the marker location790. Because the localization process occurs frequently, the process of correlation between the eyewear device location840and the marker location790produces accurate and near real-time tracking of the current electronic eyewear device location840relative to the marker location790.

In some implementations, the process of estimating the current electronic eyewear device location840is based on the frames of motion data captured using the IMU472, or on the frames of video data900captured using a camera114A coupled to the eyewear device100, or a combination of both. The process of estimating the current electronic eyewear device location840in some implementations is executed about as frequently as the IMU472captures motion data (e.g., one hundred times per second, based on an IMU sample rate of 100 Hz (samples per second)). In some implementations, the process of estimating the current electronic eyewear device location840occurs at a predefined and configurable frequency, and the IMU472is configured to captured frames of motion data at a compatible rate.

Block710inFIG.7recites an example step of presenting on the display182B a medical image overlay800at the image location812according to the current electronic eyewear device location840. The medical image overlay800is presented at the image location812, which is associated with the medical image810. In some implementations the medical image overlay800comprises one or more medical images810, as registered (e.g., as described at block706). In some implementations the medical image overlay800comprises a part, portion, or segment of one or more medical images810, as registered.

As shown inFIG.8D, the medical image overlay800ain this example includes a lower medical image810L presented at image location812L and an upper medical image810U presented at image location812U. The medical images810L,810U have been registered with the physical environment600, as described herein. As shown inFIG.8D, a number of real objects in the physical environment600(e.g., the mouth and other teeth) are viewable through the semi-transparent lens assembly and display182B. The process of registering and presenting produces a medical image overlay800athat closely matches the location, orientation, and size of the real objects. For example, as shown inFIG.8D, the medical image810L closely matches the location, orientation, and size of the real objects (e.g., the four real, lower teeth which were the subject of the medical image810L). In this aspect, the medical image overlay800aprovides an accurate view of the normally-unseen features of the target (e.g., the dentin, pulp chamber, alveolar bone, and roots of the four subject lower teeth) by presenting the medical image810L at the proper location and scale.

The process of presenting a medical image overlay800in some implementations includes presenting the medical images810L,810U as an overlay relative to the physical environment600, such that the medical image overlay800is persistently viewable in the foreground relative to the real objects in the physical environment. For example, as shown inFIG.8D, the medical image overlay800ais presented as an overlay (e.g., in the foreground) relative to the physical environment600(e.g., in front of the teeth), such that the medical image overlay800is persistently viewable relative to other objects in the physical environment600.

FIG.8Eis another example medical image overlay800bwhich includes the lower medical image810L presented at the image location812L. In this view, the eyewear device location840has changed, compared to the location840shown inFIG.8D. The medical image810L has been registered with the physical environment600, as described herein. The image location812L (e.g., location, orientation, and scale) is the same inFIG.8Eas it was inFIG.8D. Accordingly, the medical image810L is presented on the display182B in a more angular orientation (and a slightly different scale) relative to its presentation inFIG.8D. In this aspect, the image registration tool912and the localization system915(e.g., determining the current eyewear device location840) cooperate to present a medical image overlay800athat closely matches the location, orientation, and size of the real objects (e.g., the four real, lower teeth which were the subject of the medical image810L) from any point of view.

The process of presenting the medical image overlay800in some implementations includes providing the user with one or more tools to adjust or otherwise configure the medical image overlay800, as described herein, or to start and stop the presentation selectively. For example, the user may pause or stop (or re-start) the process of presenting the medical image overlay800by speaking a voice command, pressing a push button on the eyewear device100, executing a hand gesture, or tapping a finger touch681on the touchpad181.

The process of presenting the medical image overlay800in some implementations includes moving or otherwise adjusting the image location812relative to the target50such that the medical image810, when registered, will be presented as an overlay in the foreground relative to the target50. In this process, the overlay application910estimates the image location812(e.g., where the medical image overlay800is presented) relative to the target50(e.g., one or more teeth) based, in some implementations, on one or more marker locations790. If all or part of the medical image overlay800is estimated to lie in the background relative to the target (e.g., behind the teeth), then the overlay application910moves or otherwise adjusts the image location812so the medical image810will be presented in the foreground relative to the target50. IN some implementations, the overlay application910moves or otherwise adjusts the image location812automatically, without user input.

The image location812in some implementations is configurable, such that the process of presenting the medical image overlay800includes providing the user with one or more tools to adjust or otherwise configure the image location812. The process of adjusting the image location812in some implementations includes calculating or adjusting the image location812based on the length and heading of a segment521traversed by a finger along a touchpad (as shown inFIG.8D). The process of adjusting the image location812in some implementations includes identifying the original value of the image location812(e.g., as established when the registering the medical image, at block706). The process of adjusting the image location812in some implementations includes calculating a new image location812based on the length and heading of the segment521(e.g., the longer the segment521, the greater the change in the image location812). The image location812in some implementations includes a sign (positive or negative) based on the heading of the segment521(e.g., move the image location812toward the foreground in response to a heading toward the front of the eyewear device100; toward the background in response to a heading toward the ear). The process of adjusting the image location812in some implementations occurs in real-time so that the viewer can see the change in image location812as adjustments are made, and stop (e.g., lift the finger or execute a tap681on the touchpad181) when the desired new image location812is reached.

Block712inFIG.7recites an example step of presenting the medical image overlay800in accordance with the field of view904associated with the camera114B. In some implementations, the camera field of view904, as shown inFIG.8D, is larger than the display182B. In this example step of presenting, the medical image overlay800aappears when the image location812L,812U is detected within the field of view904of the camera114B (e.g., based on the captured frames of video data900). For example, referring toFIG.8D, if the eyewear device100is moved very close to the upper teeth, so that the field of view904includes the upper image location812U, then the upper medical image810U will be presented on the display182B. Conversely, if the field of view904does not includes the upper image location812U, then the upper medical image810U will not be presented on the display182B.

In some implementations, a medical image overlay800includes a number of medical images (e.g.,810L,810U, and in some cases many other images). This example step of presenting the medical image overlay800based on the field of view904, in practice, means that the medical images will appear (or disappear) as the field of view904changes (e.g., as the eyewear device100moves through the physical environment600).

Block714inFIG.7recites an example step of selectively adjusting a transparency value820associated with the medical image overlay800. The transparency value820affects how much of the real objects are viewable when the medical image overlay800is presented on the display182B (e.g., in the foreground relative to the real objects). In some implementations, the transparency value820is predefined (e.g., ten percent transparent, equivalent to ninety percent opaque).

The transparency value820in some implementations is configurable, such that the process of presenting the medical image overlay800includes providing the user with one or more tools to adjust or otherwise configure the transparency value820. The process of adjusting the transparency value820in some implementations includes calculating or adjusting the transparency value820based on the length and heading of a segment521traversed by a finger along a touchpad (as shown inFIG.8D). The process of adjusting the transparency value820in some implementations includes identifying the original value of the transparency value820(e.g., the default or predefined value). The process of adjusting the transparency value820in some implementations includes calculating a new transparency value820based on the length and heading of the segment521(e.g., the longer the segment521, the greater the change in transparency). The transparency value820in some implementations includes a sign (positive or negative) based on the heading of the segment521(e.g., increase the transparency in response to a heading toward the front of the eyewear device100; reduce for a heading toward the ear). The process of adjusting the transparency value820in some implementations occurs in real-time so that the viewer can see the change in transparency as adjustments are made, and stop (e.g., lift the finger or execute a tap681on the touchpad181) when the desired transparency value820is reached.

The eyewear device100in some implementations includes a voice recognition module925, as described herein, and a microphone139coupled to a speaker191. The voice recognition module925in some implementations configures the processor432to perceive human speech, convert the received speech into frames of audio data, identify a first inquiry based on converted frames of audio data, and then perform an action in response to and in accordance with the identified first inquiry. For example, the human speech may include a verbal command (e.g., “transparency seventy percent”) and, in response, the identified first inquiry causes the overlay application910to adjust the transparency value820as described herein.

Any of the functionality described herein for the eyewear device100, the mobile device401, and the server system498can be embodied in one or more computer software applications or sets of programming instructions, as described herein. According to some examples, “function,” “functions,” “application,” “applications,” “instruction,” “instructions,” or “programming” are program(s) that execute functions defined in the programs. Various programming languages can be employed to develop one or more of the applications, structured in a variety of manners, such as object-oriented programming languages (e.g., Objective-C, Java, or C++) or procedural programming languages (e.g., C or assembly language). In a specific example, a third-party application (e.g., an application developed using the ANDROID™ or IOS™ software development kit (SDK) by an entity other than the vendor of the particular platform) may include mobile software running on a mobile operating system such as IOS™ ANDROID™, WINDOWS® Phone, or another mobile operating system. In this example, the third-party application can invoke API calls provided by the operating system to facilitate functionality described herein.

Hence, a machine-readable medium may take many forms of tangible/non-transitory storage medium. Non-volatile storage media include, for example, optical or magnetic disks, such as any of the storage devices in any computer devices or the like, such as may be used to implement the client device, media gateway, transcoder, etc. shown in the drawings. Volatile storage media include dynamic memory, such as main memory of such a computer platform. Tangible transmission media include coaxial cables; copper wire and fiber optics, including the wires that comprise a bus within a computer system. Carrier-wave transmission media may take the form of electric or electromagnetic signals, or acoustic or light waves such as those generated during radio frequency (RF) and infrared (IR) data communications. Common forms of computer-readable media therefore include for example: a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD or DVD-ROM, any other optical medium, punch cards paper tape, any other physical storage medium with patterns of holes, a RAM, a PROM and EPROM, a FLASH-EPROM, any other memory chip or cartridge, a carrier wave transporting data or instructions, cables or links transporting such a carrier wave, or any other medium from which a computer may read programming code or data. Many of these forms of computer readable media may be involved in carrying one or more sequences of one or more instructions/program code to a processor for execution.

Except as stated immediately above, nothing that has been stated or illustrated is intended or should be interpreted to cause a dedication of any component, step, feature, object, benefit, advantage, or equivalent to the public, regardless of whether it is or is not recited in the claims.

It will be understood that the terms and expressions used herein have the ordinary meaning as is accorded to such terms and expressions with respect to their corresponding respective areas of inquiry and study except where specific meanings have otherwise been set forth herein. Relational terms such as first and second and the like may be used solely to distinguish one entity or action from another without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms “comprises,” “comprising,” “includes,” “including,” or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises or includes a list of elements or steps does not include only those elements or steps but may include other elements or steps not expressly listed or inherent to such process, method, article, or apparatus. An element preceded by “a” or “an” does not, without further constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

Unless otherwise stated, any and all measurements, values, ratings, positions, magnitudes, sizes, and other specifications that are set forth in this specification, including in the claims that follow, are approximate, not exact. Such amounts are intended to have a reasonable range that is consistent with the functions to which they relate and with what is customary in the art to which they pertain. For example, unless expressly stated otherwise, a parameter value or the like may vary by as much as plus or minus ten percent from the stated amount or range.

In addition, in the foregoing Detailed Description, it can be seen that various features are grouped together in various examples for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed examples require more features than are expressly recited in each claim. Rather, as the following claims reflect, the subject matter to be protected lies in less than all features of any single disclosed example. Thus, the following claims are hereby incorporated into the Detailed Description, with each claim standing on its own as a separately claimed subject matter.

While the foregoing has described what are considered to be the best mode and other examples, it is understood that various modifications may be made therein and that the subject matter disclosed herein may be implemented in various forms and examples, and that they may be applied in numerous applications, only some of which have been described herein. It is intended by the following claims to claim any and all modifications and variations that fall within the true scope of the present concepts.