Echo fingerprint estimation

Abstract

To provide suitable reverberation fingerprint estimation.SOLUTION: Examples of the present disclosure describe systems and methods for estimating acoustic property of an environment. In an example method, a first audio signal is received via a microphone of a wearable head device. The envelope of the first audio signal is determined and first reverberation time is estimated based on the envelope of the first audio signal. A difference between first reverberation time and second reverberation time is determined. A change of the environment is determined based on the difference between first reverberation time and the second reverberation time. A second audio signal is presented via a speaker of the wearable head device, and the second audio signal is based on the second reverberation time.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims the benefit of U.S. Provisional Application No. 62 / 926,330, filed October 25, 2019, the entire disclosure of which is incorporated herein by reference for all purposes.

[0002] FIELD OF THE DISCLOSURE This disclosure relates generally to systems and methods for determining and processing audio information, and more particularly to systems and methods for determining and processing audio information within a mixed reality environment. [Background technology]

[0003] Virtual environments are ubiquitous in computing environments, finding use in video games (where a virtual environment may represent a game world), maps (where a virtual environment may represent a terrain to be navigated), simulations (where a virtual environment may simulate a real environment), digital storytelling (where virtual characters may interact with one another within a virtual environment), and many other applications. Modern computer users are generally comfortable perceiving and interacting with virtual environments. However, a user's experience with a virtual environment may be limited by the technology for presenting the virtual environment. For example, conventional displays (e.g., 2D display screens) and audio systems (e.g., fixed speakers) may be incapable of realizing a virtual environment in a way that creates a compelling, realistic, and immersive experience.

[0004] Virtual reality ("VR"), augmented reality ("AR"), mixed reality ("MR"), and related technologies (collectively, "XR") share the ability to present a user of an XR system with sensory information corresponding to a virtual environment represented by data in a computer system. This disclosure considers specificity between VR, AR, and MR systems (although some systems may be categorized as VR in one aspect (e.g., visual aspects) and simultaneously categorized as AR or MR in another aspect (e.g., audio aspects). As used herein, a VR system presents a virtual environment that replaces the user's real environment in at least one aspect. For example, a VR system may present a user with a view of the virtual environment while simultaneously obscuring that view of the real environment, such as with a light-blocking head-mounted display. Similarly, a VR system may present a user with audio corresponding to the virtual environment while simultaneously blocking (attenuating) the audio from the real environment.

[0005] VR systems may suffer from various shortcomings that result from replacing the user's real environment with a virtual environment. One shortcoming is motion sickness, which can occur when the user's field of view in the virtual environment no longer corresponds to the state of their inner ear, which detects their balance and orientation in the real (but not the virtual) environment. Similarly, a user may suffer disorientation in a VR environment if their own body and limbs (the view on which the user relies to feel "grounded" in the real environment) are not directly visible. Another shortcoming is the computational burden (e.g., memory, processing power) imposed on a VR system that must present a full 3D virtual environment, especially in real-time applications that seek to immerse the user in the virtual environment. Similarly, such an environment may need to reach a very high level of realism to be considered immersive, since users tend to be sensitive to even slight imperfections in the virtual environment, any of which can destroy the user's immersion in the virtual environment. Yet another disadvantage of VR systems is that such applications of the systems cannot take advantage of the wide range of sensory data in the real environment, such as the various sights and sounds experienced in the real world. A related disadvantage is that VR systems may struggle to create shared environments in which multiple users can interact, because users who share a physical space in the real environment may not be able to see or interact with each other directly in the virtual environment.

[0006] As used herein, an AR system presents a virtual environment that overlaps or overlays the real environment in at least one aspect. For example, an AR system may present a user with a view of the virtual environment overlaid on the user's view of the real environment, such as with a see-through head-mounted display that presents a displayed image while allowing light to pass through the display into the user's eyes. Similarly, an AR system may present a user with audio corresponding to the virtual environment while simultaneously mixing in audio from the real environment. Similarly, as used herein, an MR system may present a virtual environment that overlaps or overlays the real environment in at least one aspect, similar to an AR system, and additionally allow the virtual environment in the MR system to interact with the real environment in at least one aspect. For example, a virtual character in the virtual environment may flip a light switch in the real environment, causing a corresponding light bulb in the real environment to turn on or off. As another example, the virtual character may react to an audio signal in the real environment (such as with facial expressions). By maintaining the presentation of the real environment, AR and MR systems may avoid some of the aforementioned shortcomings of VR systems. For example, motion sickness in a user is reduced because visual cues from the real environment (including the user's own body) can remain visible and such systems do not need to present the user with a fully realized 3D environment to be immersive. Additionally, AR and MR systems can create new applications that utilize real-world sensory input (e.g., views and sounds of scenery, objects, and other users) to augment that input.

[0007] It may be desirable for an MR system to interface with as many human senses as possible to create an immersive mixed reality environment for the user. While the visual display of virtual content may be important to the mixed reality experience, audio signals may also be useful in creating a sense of immersion within the mixed reality environment. Similar to visually displayed virtual content, virtual audio content may also be adapted to simulate sounds from the real environment. For example, virtual audio content presented in a real environment with echo may also be rendered as an echo even if the virtual audio content may not, in fact, be an echo in the real environment. This adaptation may help blend the virtual and real content such that the distinction between the two is not obvious or even imperceptible to the end user. To effectively blend virtual and real audio content, it may be desirable to understand the acoustic properties of the real environment so that the virtual audio content may simulate the characteristics of the real audio content. Summary of the Invention [Means for solving the problem]

[0008] An embodiment of the present disclosure describes a system and method for estimating acoustic properties of an environment. In an exemplary method, a first audio signal is received via a microphone of a wearable head device. An envelope of the first audio signal is determined, and a first reverberation time is estimated based on the envelope of the first audio signal. A difference between the first reverberation time and a second reverberation time is determined. A change in the environment is determined based on the difference between the first reverberation time and the second reverberation time. A second audio signal is presented via a speaker of the wearable head device, and the second audio signal is based on the second reverberation time. The present invention provides, for example, the following: (Item 1) 1. A method comprising: receiving a first audio signal via a microphone of a wearable head device; determining an envelope of the first audio signal; estimating a first reverberation time based on an envelope of the first audio signal; determining a difference between the first reverberation time and a second reverberation time; determining a change in the environment based on a difference between the first reverberation time and the second reverberation time; presenting a second audio signal via a speaker of a wearable head device, the second audio signal being based on the first reverberation time; A method comprising: (Item 2) Item 1. The method of item 1, wherein estimating the first reverberation time includes determining whether an envelope of the first audio signal has decayed for more than a threshold amount of time. (Item 3) estimating the first reverberation time comprises: determining a linear fit of an attenuation region within an envelope of the first audio signal; determining whether the linear fit has a correlation above a threshold correlation; The method according to item 1, comprising: (Item 4) determining whether a confidence level within the first reflection time exceeds a confidence threshold amount; determining the first reverberation time in accordance with a determination that a confidence in the first reverberation time exceeds a threshold amount of the confidence; not determining the first reverberation time in response to a determination that the confidence in the first reverberation time does not exceed the confidence threshold amount. Further comprising: 2. The method of claim 1, wherein determining a difference between the first reverberation time and the second reverberation time, determining a change in the environment based on the difference between the first reverberation time and the second reverberation time, and presenting the second audio signal via a speaker of the wearable head device are performed pursuant to a determination that a confidence in the first reverberation time exceeds a threshold amount of the confidence. (Item 5) Item 10. The method of item 1, further comprising estimating a first reverberation gain based on an envelope of the first audio signal, the second audio signal being based on the first reverberation gain. (Item 6) Item 6. The method of item 5, wherein estimating the first reverberation gain includes prompting a user to clap their hands. (Item 7) 6. The method of claim 5, wherein estimating the first reverberation gain includes presenting an impulse sound via a speaker of the wearable head device. (Item 8) 6. The method of claim 5, wherein the first reverberation gain comprises a ratio of direct sound energy to reverberant sound energy. (Item 9) 1. A system comprising: A microphone in a wearable head device; A speaker of the wearable head device; One or more processors, receiving a first audio signal via a microphone of the wearable head device; determining an envelope of the first audio signal; estimating a first reverberation time based on an envelope of the first audio signal; determining a difference between the first reverberation time and a second reverberation time; determining a change in the environment based on a difference between the first reverberation time and the second reverberation time; presenting a second audio signal via a speaker of the wearable head device, the second audio signal being based on the first reverberation time; one or more processors configured to execute a method comprising: A system comprising: (Item 10) 10. The system of claim 9, wherein estimating the first reverberation time includes determining whether an envelope of the first audio signal has decayed for more than a threshold amount of time. (Item 11) estimating the first reverberation time comprises: determining a linear fit of an attenuation region within an envelope of the first audio signal; determining whether the linear fit has a correlation above a threshold correlation; 10. The system according to item 9, comprising: (Item 12) The method further comprises: determining whether a confidence level within the first reflection time exceeds a confidence threshold amount; determining the first reverberation time in accordance with a determination that a confidence in the first reverberation time exceeds a threshold amount of the confidence; not determining the first reverberation time in response to a determination that the confidence in the first reverberation time does not exceed the confidence threshold amount. Including, 10. The system of claim 9, wherein determining a difference between the first reverberation time and the second reverberation time, determining a change in the environment based on the difference between the first reverberation time and the second reverberation time, and presenting the second audio signal via a speaker of the wearable head device are performed pursuant to a determination that a confidence in the first reverberation time exceeds a threshold amount of the confidence. (Item 13) 10. The system of claim 9, further comprising estimating a first reverberation gain based on an envelope of the first audio signal, the second audio signal being based on the first reverberation gain. (Item 14) Item 14. The system of item 13, wherein estimating the first reverberation gain includes presenting an impulse sound via a speaker of the wearable head device. (Item 15) A non-transitory computer readable medium having instructions stored thereon that, when executed by one or more processors, cause the one or more processors to: receiving a first audio signal via a microphone of a wearable head device; determining an envelope of the first audio signal; estimating a first reverberation time based on an envelope of the first audio signal; determining a difference between the first reverberation time and a second reverberation time; determining a change in the environment based on a difference between the first reverberation time and the second reverberation time; presenting a second audio signal via a speaker of a wearable head device, the second audio signal being based on the first reverberation time; A non-transitory computer readable medium for carrying out a method comprising: (Item 16) Item 16. The non-transitory computer-readable medium of item 15, wherein estimating the first reverberation time includes determining whether an envelope of the first audio signal has decayed for more than a threshold amount of time. (Item 17) estimating the first reverberation time comprises: determining a linear fit of an attenuation region within an envelope of the first audio signal; determining whether the linear fit has a correlation above a threshold correlation; Item 16. The non-transitory computer-readable medium of item 15, comprising: (Item 18) The method further comprises: determining whether a confidence level within the first reflection time exceeds a confidence threshold amount; determining the first reverberation time in accordance with a determination that a confidence in the first reverberation time exceeds a threshold amount of the confidence; not determining the first reverberation time in response to a determination that the confidence in the first reverberation time does not exceed the confidence threshold amount. Including, Item 16. The non-transitory computer-readable medium of item 15, wherein determining a difference between the first reverberation time and the second reverberation time, determining a change in the environment based on the difference between the first reverberation time and the second reverberation time, and presenting the second audio signal via a speaker of the wearable head device are performed pursuant to a determination that a confidence in the first reverberation time exceeds a threshold amount of the confidence. (Item 19) Item 16. The non-transitory computer-readable medium of item 15, further comprising estimating a first reverberation gain based on an envelope of the first audio signal, the second audio signal being based on the first reverberation gain. (Item 20) 20. The non-transitory computer-readable medium of claim 19, wherein estimating the first reverberation gain includes presenting an impulse sound via a speaker of the wearable head device. [Brief description of the drawings]

[0009] [Figure 1A] 1A-1C illustrate an example mixed reality environment in accordance with one or more embodiments of the present disclosure. [Figure 1B] 1A-1C illustrate an example mixed reality environment in accordance with one or more embodiments of the present disclosure. [Figure 1C]1A-1C illustrate an example mixed reality environment in accordance with one or more embodiments of the present disclosure.

[0010] [Figure 2A] 2A-2D illustrate components of an example mixed reality system that may be used to generate and interact with a mixed reality environment in accordance with one or more embodiments of the present disclosure. [Figure 2B] 2A-2D illustrate components of an example mixed reality system that may be used to generate and interact with a mixed reality environment in accordance with one or more embodiments of the present disclosure. [Figure 2C] 2A-2D illustrate components of an example mixed reality system that may be used to generate and interact with a mixed reality environment in accordance with one or more embodiments of the present disclosure. [Figure 2D] 2A-2D illustrate components of an example mixed reality system that may be used to generate and interact with a mixed reality environment in accordance with one or more embodiments of the present disclosure.

[0011] [Figure 3A] FIG. 3A illustrates an example mixed reality handheld controller that may be used to provide input to a mixed reality environment in accordance with one or more embodiments of the present disclosure.

[0012] [Figure 3B] FIG. 3B illustrates an example auxiliary unit that may be used with an example mixed reality system in accordance with one or more embodiments of the present disclosure.

[0013] [Figure 4] FIG. 4 illustrates an example functional block diagram for an example mixed reality system in accordance with one or more embodiments of the present disclosure.

[0014] [Diagram 5]FIG. 5 illustrates an example of estimating an echo fingerprint in accordance with one or more embodiments of the present disclosure.

[0015] [Figure 6] FIG. 6 illustrates example steps for estimating reverberation time in accordance with one or more embodiments of the present disclosure.

[0016] [Figure 7] FIG. 7 illustrates an example of estimating reverberation time according to one or more embodiments of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Detailed Description In the following description of the embodiments, reference is made to the accompanying drawings which form a part hereof, and in which is shown, by way of illustration, specific embodiments which may be practiced. It is to be understood that other embodiments may be used and structural changes may be made without departing from the scope of the disclosed embodiments.

[0018] Mixed Reality Environment

[0019] Like all people, users of a mixed reality system exist in a real environment, i.e., the three-dimensional portion of the "real world" and all of its content are perceivable by the user. For example, the user perceives the real environment using normal human senses, i.e., sight, hearing, touch, taste, and smell, and interacts with the real environment by moving his or her body within the real environment. Locations within the real environment can be described as coordinates in a coordinate space. For example, coordinates can include latitude, longitude, and altitude relative to sea level, distance in three orthogonal dimensions from a reference point, or other suitable values. Similarly, a vector can describe a quantity, having a direction and magnitude in a coordinate space.

[0020] A computing device may maintain a representation of a virtual environment, for example, in a memory associated with the device. As used herein, a virtual environment is a computed representation of a three-dimensional space. A virtual environment may include representations of any objects, actions, signals, parameters, coordinates, vectors, or other properties associated with that space. In some examples, a circuit (e.g., a processor) of a computing device may maintain and update a state of the virtual environment. That is, the processor may determine a state of the virtual environment at a second time t1 based on data associated with the virtual environment and / or input provided by a user at a first time t0. For example, if an object in the virtual environment is located at a first coordinate at time t0 and has certain programmed physical parameters (e.g., mass, coefficient of friction), and input received from a user indicates that a force should be applied to the object in a certain directional vector, the processor may apply the laws of kinematics and use basic mechanics to determine the location of the object at time t1. The processor may use any suitable information known about the virtual environment and / or any suitable input to determine the state of the virtual environment at time t1. In maintaining and updating the state of the virtual environment, the processor may execute any suitable software, including software related to creating and deleting virtual objects in the virtual environment, software (e.g., scripts) for defining behavior of virtual objects or characters in the virtual environment, software for defining behavior of signals (e.g., audio signals) in the virtual environment, software for creating and updating parameters associated with the virtual environment, software for generating audio signals in the virtual environment, software for handling inputs and outputs, software for implementing network operations, software for applying asset data (e.g., animation data for moving a virtual object over time), or many other possibilities.

[0021] An output device, such as a display or speaker, can present any or all aspects of the virtual environment to the user. For example, the virtual environment may include virtual objects (which may include representations of inanimate objects, people, animals, lights, etc.) that may be presented to the user. The processor can determine a view of the virtual environment (e.g., corresponding to a "camera," with its origin coordinates, viewing axis, and frustum) and render on the display a viewable scene of the virtual environment corresponding to that view. Any suitable rendering technique may be used for this purpose. In some examples, the viewable scene may include only some virtual objects in the virtual environment and exclude certain other virtual objects. Similarly, the virtual environment may include audio aspects that may be presented to the user as one or more audio signals. For example, a virtual object in the virtual environment may generate sounds originating from the object's location coordinates (e.g., a virtual character may speak or create a sound effect), or the virtual environment may be associated with musical cues or ambient sounds that may or may not be associated with a particular location. The processor can determine audio signals corresponding to "listener" coordinates, e.g., audio signals corresponding to the synthesis of sounds in the virtual environment and that are mixed and processed to simulate the audio signals that would be heard by a listener at the listener coordinates, and present the audio signals to the user via one or more speakers.

[0022] Because the virtual environment exists only as a computational structure, the user cannot directly perceive the virtual environment using normal senses. Instead, the user can only indirectly perceive the virtual environment, as presented to the user, for example, by a display, a speaker, a tactile output device, etc. Similarly, the user cannot directly touch, manipulate, or otherwise interact with the virtual environment, but can provide input data via input devices or sensors to a processor, which can use the device or sensor data to update the virtual environment. For example, a camera sensor can provide optical data indicating that the user is attempting to move an object in the virtual environment, and the processor can use that data to cause the object to respond appropriately within the virtual environment.

[0023] A mixed reality system can present a user with a mixed reality environment ("MRE") that combines aspects of real and virtual environments, for example, using a see-through display and / or one or more speakers (which may be incorporated, for example, into a wearable head device). In some embodiments, the one or more speakers may be external to the head-mounted wearable unit. As used herein, an MRE is a simultaneous representation of a real environment and a corresponding virtual environment. In some examples, the corresponding real and virtual environments share a single coordinate space. In some examples, the real coordinate space and the corresponding virtual coordinate space are related to each other by a transformation matrix (or other suitable representation). Thus, a single coordinate (in some examples, together with the transformation matrix) may define a first location in the real environment and also a second corresponding location in the virtual environment, and vice versa.

[0024] In an MRE, a virtual object (e.g., in a virtual environment associated with the MRE) may correspond to a real object (e.g., in a real environment associated with the MRE). For example, if the real environment of the MRE includes a real lamppost (a real object) at a location coordinate, the virtual environment of the MRE may include a virtual lamppost (a virtual object) at a corresponding location coordinate. As used herein, a real object combines with its corresponding virtual object to comprise a "mixed reality object." It is not necessary for a virtual object to perfectly match or match a corresponding real object. In some examples, a virtual object may be a simplified version of a corresponding real object. For example, if the real environment includes a real lamppost, the corresponding virtual object may include a cylinder of approximately the same height and radius as the real lamppost (reflecting that a lamppost may be approximately cylindrical in shape). Simplifying virtual objects in this manner may enable computational efficiencies and simplify calculations to be performed on such virtual objects. Furthermore, in some examples of an MRE, not all real objects in the real environment may be associated with a corresponding virtual object. Similarly, in some embodiments of the MRE, not all virtual objects in the virtual environment may be associated with corresponding real objects, i.e., some virtual objects may exist solely within the virtual environment of the MRE without any real-world counterpart.

[0025] In some embodiments, virtual objects may have characteristics that are different, sometimes significantly, from those of the corresponding real object. For example, a real environment in an MRE may contain a green, two-pronged cactus, a thorny, inanimate object, while the corresponding virtual object in the MRE may have the characteristics of a green, two-armed virtual character with human facial features and a surly attitude. In this embodiment, the virtual object resembles its corresponding real object in some characteristics (color, number of arms) but differs from the real object in other characteristics (facial features, personality). In this way, virtual objects have the potential to represent real objects in creative, abstract, exaggerated, or fictitious ways, or to impart behaviors (e.g., human personality) to otherwise inanimate real objects. In some embodiments, virtual objects may be purely fictitious creations with no real-world counterpart (e.g., virtual monsters in a virtual environment, perhaps in a location that corresponds to a void in the real environment).

[0026] Compared to a VR system that presents a virtual environment to a user while obscuring the real environment, a mixed reality system that presents an MRE offers the advantage that the real environment remains perceptible while the virtual environment is presented. Thus, a user of a mixed reality system can experience and interact with a corresponding virtual environment using visual and audio cues associated with the real environment. As an example, a user of a VR system may struggle to perceive or interact with a virtual object displayed in the virtual environment because, as mentioned above, the user cannot directly perceive or interact with the virtual environment, whereas a user of an MR system may find it intuitive and natural to interact with a virtual object by seeing, hearing, and touching the corresponding real object in his or her real environment. This level of interaction may enhance the user's sense of immersion, connection, and engagement with the virtual environment. Similarly, by presenting a real environment and a virtual environment simultaneously, a mixed reality system may reduce the negative psychological sensations (e.g., cognitive dissonance) and negative physical sensations (e.g., motion sickness) associated with a VR system. Mixed reality systems also offer many possibilities for applications that can augment or modify our experience of the real world.

[0027] 1A illustrates an exemplary real environment 100 in which a user 110 uses a mixed reality system 112. The mixed reality system 112 may comprise a display (e.g., a see-through display) and one or more speakers, and one or more sensors (e.g., cameras), for example, as described below. The illustrated real environment 100 comprises a rectangular room 104A in which the user 110 is standing, and real objects 122A (lamp), 124A (table), 126A (sofa), and 128A (painting). The room 104A further comprises a location coordinate 106, which may be considered as the origin of the real environment 100. As shown in FIG. 1A, an environment / world coordinate system 108 (comprising an x-axis 108X, a y-axis 108Y, and a z-axis 108Z), with its origin at point 106 (world coordinates), may define a coordinate space for the real environment 100. In some embodiments, the origin 106 of the environment / world coordinate system 108 may correspond to where the mixed reality system 112 was powered on. In some embodiments, the origin 106 of the environment / world coordinate system 108 may be reset during operation. In some examples, the user 110 may be considered a real object in the real environment 100. Similarly, the body parts (e.g., hands, feet) of the user 110 may be considered real objects in the real environment 100. In some examples, the user / listener / head coordinate system 114 (comprising an x-axis 114X, a y-axis 114Y, and a z-axis 114Z), with its origin at point 115 (e.g., user / listener / head coordinate), may define a coordinate space for the user / listener / head on which the mixed reality system 112 is located. The origin 115 of the user / listener / head coordinate system 114 may be defined relative to one or more components of the mixed reality system 112. For example, the origin 115 of the user / listener / head coordinate system 114 may be defined relative to the display of the mixed reality system 112, such as during an initial calibration of the mixed reality system 112. Matrices (which may include translation matrices and quaternion or other rotation matrices) or other suitable representations can characterize the transformation between the user / listener / head coordinate system 114 space and the environment / world coordinate system 108 space.In some embodiments, the left ear coordinates 116 and right ear coordinates 117 may be defined relative to the origin 115 of the user / listener / head coordinate system 114. Matrices (which may include translation matrices and quaternion matrices or other rotation matrices) or other suitable representations can characterize the transformation between the left ear coordinates 116 and right ear coordinates 117 and the user / listener / head coordinate system 114 space. The user / listener / head coordinate system 114 can simplify the representation of location relative to the user's head or head-mounted device, e.g., relative to the environment / world coordinate system 108. Using simultaneous localization and mapping (SLAM), visual odometry, or other techniques, the transformation between the user coordinate system 114 and the environment coordinate system 108 can be determined and updated in real time.

[0028] 1B illustrates an exemplary virtual environment 130 that corresponds to the real environment 100. The illustrated virtual environment 130 includes a virtual rectangular room 104B that corresponds to the real rectangular room 104A, a virtual object 122B that corresponds to the real object 122A, a virtual object 124B that corresponds to the real object 124A, and a virtual object 126B that corresponds to the real object 126A. Metadata associated with the virtual objects 122B, 124B, 126B may include information derived from the corresponding real objects 122A, 124A, 126A. The virtual environment 130 additionally includes a virtual monster 132, which does not correspond to any real object in the real environment 100. A real object 128A in the real environment 100 does not correspond to any virtual object in the virtual environment 130. A persistent coordinate system 133 (with x-axis 133X, y-axis 133Y, and z-axis 133Z) with its origin at point 134 (persistent coordinate) may define a coordinate space for the virtual content. The origin 134 of the persistent coordinate system 133 may be defined relative to / with respect to one or more real objects, such as real object 126A. A matrix (which may include a translation matrix and a quaternion matrix or other rotation matrix) or other suitable representation may characterize the transformation between the persistent coordinate system 133 space and the environment / world coordinate system 108 space. In some embodiments, virtual objects 122B, 124B, 126B, and 132 may each have its own persistent coordinate point relative to the origin 134 of the persistent coordinate system 133. In some embodiments, there may be multiple persistent coordinate systems, and virtual objects 122B, 124B, 126B, and 132 may each have its own persistent coordinate point relative to one or more persistent coordinate systems.

[0029] 1A and 1B, the environment / world coordinate system 108 defines a shared coordinate space for both the real environment 100 and the virtual environment 130. In the illustrated embodiment, the coordinate space has its origin at point 106. Furthermore, the coordinate space is defined by the same three orthogonal axes (108X, 108Y, 108Z). Thus, a first location in the real environment 100 and a second corresponding location in the virtual environment 130 can be described with respect to the same coordinate space. This simplifies the steps of identifying and displaying corresponding locations in the real and virtual environments, since the same coordinates can be used to identify both locations. However, in some embodiments, the corresponding real and virtual environments need not use a shared coordinate space. For example, in some embodiments (not shown), matrices (which may include translation matrices and quaternion matrices or other rotation matrices) or other suitable representations can characterize the transformation between the real environment coordinate space and the virtual environment coordinate space.

[0030] 1C illustrates an exemplary MRE 150 that simultaneously presents aspects of real environment 100 and virtual environment 130 to user 110 via mixed reality system 112. In the example shown, MRE 150 simultaneously presents to user 110 real objects 122A, 124A, 126A, and 128A from real environment 100 (e.g., via a translucent portion of a display of mixed reality system 112) and virtual objects 122B, 124B, 126B, and 132 from virtual environment 130 (e.g., via a display active display portion of mixed reality system 112). As described above, origin 106 acts as the origin for a coordinate space corresponding to MRE 150, and coordinate system 108 defines the x-, y-, and z-axes for the coordinate space.

[0031] In the illustrated example, the mixed reality objects comprise corresponding pairs of real and virtual objects (i.e., 122A / 122B, 124A / 124B, 126A / 126B) that occupy corresponding locations in coordinate space 108. In some examples, both real and virtual objects may be visible to user 110 at the same time. This may be desirable in instances where, for example, a virtual object presents information designed to augment the view of the corresponding real object (such as in a museum application where a virtual object presents a missing portion of an ancient damaged statue). In some examples, the virtual objects (122B, 124B, and / or 126B) may be displayed so as to occlude the corresponding real objects (122A, 124A, and / or 126A) (e.g., via active pixelated occlusion using a pixelated occlusion shutter). This may be desirable, for example, in instances where a virtual object acts as a visual replacement for a corresponding real object (such as in interactive storytelling applications where inanimate real objects become "living" characters).

[0032] In some examples, real objects (e.g., 122A, 124A, 126A) may be associated with virtual content or helper data that does not necessarily constitute a virtual object. The virtual content or helper data may facilitate processing or handling of the virtual object within a mixed reality environment. For example, such virtual content may include a two-dimensional representation of the corresponding real object, a custom asset type associated with the corresponding real object, or statistical data associated with the corresponding real object. This information may enable or facilitate calculations involving the real object without incurring unnecessary computational overhead.

[0033] In some embodiments, the presentation described above may also incorporate audio aspects. For example, in MRE 150, virtual monster 132 may be associated with one or more audio signals, such as footstep effects, that are generated as the monster walks around MRE 150. As described further below, a processor in mixed reality system 112 may calculate an audio signal corresponding to a mixed and processed combination of all such sounds within MRE 150 and present the audio signal to user 110 via one or more speakers included within mixed reality system 112 and / or one or more external speakers.

[0034] Exemplary Mixed Reality System

[0035] An exemplary mixed reality system 112 may include a wearable head device (e.g., a wearable augmented reality or mixed reality head device) that includes a display (which may include left and right see-through displays, which may be eyepiece displays, and associated components for coupling light from the displays to the user's eyes), left and right speakers (e.g., positioned adjacent the user's left and right ears, respectively), an inertial measurement unit (IMU) (e.g., mounted on a temple arm of the head device), a quadrature coil electromagnetic receiver (e.g., mounted on the left temple piece), left and right cameras (e.g., depth (time of flight) cameras) oriented away from the user, and left and right eye cameras (e.g., for detecting the user's eye movements) oriented toward the user. However, the mixed reality system 112 may incorporate any suitable display technology and any suitable sensors (e.g., optical, infrared, acoustic, LIDAR, EOG, GPS, magnetic). In addition, the mixed reality system 112 may incorporate networking features (e.g., Wi-Fi capabilities) to communicate with other devices and systems, including other mixed reality systems. The mixed reality system 112 may further include a battery (which may be mounted in an auxiliary unit, such as a belt pack designed to be worn around the waist of a user), a processor, and a memory. The wearable head device of the mixed reality system 112 may include a tracking component, such as an IMU or other suitable sensor, configured to output a set of coordinates of the wearable head device relative to the user's environment. In some examples, the tracking component may provide input to the processor to implement simultaneous localization and mapping (SLAM) and / or visual odometry algorithms. In some examples, the mixed reality system 112 may also include a handheld controller 300 and / or an auxiliary unit 320, which may be a wearable belt pack, as described further below.

[0036] 2A-2D illustrate components of an example mixed reality system 200 (which may correspond to the mixed reality system 112) that may be used to present an MRE (which may correspond to the MRE 150) or other virtual environment to a user. FIG. 2A illustrates a perspective view of a wearable head device 2102 included in the example mixed reality system 200. FIG. 2B illustrates a top view of the wearable head device 2102 mounted on a user's head 2202. FIG. 2C illustrates a front view of the wearable head device 2102. FIG. 2D illustrates an edge view of an example eyepiece 2110 of the wearable head device 2102. As shown in FIGS. 2A-2C, the example wearable head device 2102 includes an example left eyepiece (e.g., a left transparent waveguide set eyepiece) 2108 and an example right eyepiece (e.g., a right transparent waveguide set eyepiece) 2110. Each eyepiece 2108 and 2110 can include a transmissive element through which the real environment is visible, and a display element for presenting a display (e.g., via image-wise modulated light) that is superimposed on the real environment. In some embodiments, such a display element can include a surface diffractive optical element for controlling the flow of image-wise modulated light. For example, the left eyepiece 2108 can include a left internal coupling grating set 2112, a left orthogonal pupil expansion (OPE) grating set 2120, and a left exit (output) pupil expansion (EPE) grating set 2122. Similarly, the right eyepiece 2110 can include a right internal coupling grating set 2118, a right OPE grating set 2114, and a right EPE grating set 2116. The image-wise modulated light can be transferred to the user's eye via the internal coupling gratings 2112 and 2118, the OPE 2114 and 2120, and the EPE 2116 and 2122. Each internal coupling grating set 2112, 2118 can be configured to deflect light towards its corresponding OPE grating set 2120, 2114. Each OPE grating set 2120, 2114 can be designed to progressively deflect light downward towards its associated EPE 2122, 2116, thereby extending the exit pupil formed horizontally.Each EPE 2122, 2116 can be configured to progressively redirect at least a portion of the light received from its corresponding OPE grating set 2120, 2114 outwardly to a user eyebox location (not shown), defined behind the eyepieces 2108, 2110, to vertically extend an exit pupil formed in the eyebox. Alternatively, instead of the internal coupling grating sets 2112 and 2118, the OPE grating sets 2114 and 2120, and the EPE grating sets 2116 and 2122, the eyepieces 2108 and 2110 can include gratings and / or other arrangements of refractive and reflective features to control the coupling of the image-wise modulated light into the user's eye.

[0037] In some embodiments, the wearable head device 2102 can include a left temple arm 2130 and a right temple arm 2132, with the left temple arm 2130 including a left speaker 2134 and the right temple arm 2132 including a right speaker 2136. A quadrature coil electromagnetic receiver 2138 can be located in the left temple piece or another suitable location in the wearable head unit 2102. An inertial measurement unit (IMU) 2140 can be located in the right temple arm 2132 or another suitable location in the wearable head device 2102. The wearable head device 2102 can also include a left depth (e.g., time-of-flight) camera 2142 and a right depth camera 2144. The depth cameras 2142, 2144 can be preferably oriented in different directions so that both cover a wider field of view.

[0038] 2A-2D, a left source of image-wise modulated light 2124 can be optically coupled into the left eyepiece 2108 through a left internal coupling grating set 2112, and a right source of image-wise modulated light 2126 can be optically coupled into the right eyepiece 2110 through a right internal coupling grating set 2118. The source of image-wise modulated light 2124, 2126 can include, for example, a fiber optic scanner, a projector including an electronic light modulator such as a digital light processing (DLP) chip or a liquid crystal on silicon (LCoS) modulator, or an emissive display such as a micro light emitting diode (μLED) or micro organic light emitting diode (μOLED) panel that is coupled into the internal coupling grating sets 2112, 2118 using one or more lenses per side. The input coupling grating sets 2112, 2118 can deflect light from the source of image-wise modulated light 2124, 2126 to an angle above the critical angle for total internal reflection (TIR) ​​for the eyepieces 2108, 2110. The OPE grating sets 2114, 2120 progressively deflect the propagating light downwards by TIR towards the EPE grating sets 2116, 2122. The EPE grating sets 2116, 2122 progressively couple the light towards the user's face, including the pupils of the user's eyes.

[0039] In some examples, as shown in FIG. 2D , the left eyepiece 2108 and the right eyepiece 2110 each include multiple waveguides 2402. For example, each eyepiece 2108, 2110 can include multiple individual waveguides, each dedicated to a separate color channel (e.g., red, blue, and green). In some examples, each eyepiece 2108, 2110 can include multiple sets of such waveguides, each set configured to impart a different wavefront curvature to the emitted light. The wavefront curvature may be convex with respect to the user's eye, for example, to present a virtual object located at a distance in front of the user (e.g., a distance corresponding to the inverse of the wavefront curvature). In some examples, the EPE grating sets 2116, 2122 can include curved grating grooves to provide a convex wavefront curvature by modifying the Poynting vector of the light exiting across each EPE.

[0040] In some examples, stereoscopically accommodated left and right eye images can be presented to the user through light modulators 2124, 2126 and eyepieces 2108, 2110 for each image to create the perception that the displayed content is three-dimensional. The perceived realism of the presentation of three-dimensional virtual objects can be enhanced by selecting the waveguides (and thus the corresponding wavefront curvatures) such that the virtual objects are displayed at distances that approximate the distances shown by the stereoscopic left and right images. The technique can also reduce motion sickness suffered by some users, which can be caused by differences between the depth perception cues provided by the stereoscopic left and right eye images and the automatic accommodation (e.g., object distance-dependent focus) of the human eye.

[0041] FIG. 2D illustrates an edge view from the top of the right eyepiece 2110 of the exemplary wearable head device 2102. As shown in FIG. 2D, the plurality of waveguides 2402 can include a first subset of three waveguides 2404 and a second subset of three waveguides 2406. The two subsets of waveguides 2404, 2406 can be distinguished by different EPE gratings that feature different grating line curvatures to impart different wavefront curvatures to the exiting light. Within each of the subsets of waveguides 2404, 2406, each waveguide can be used to couple a different spectral channel (e.g., one of the red, green, and blue spectral channels) to the user's right eye 2206. (Although not shown in FIG. 2D, the structure of the left eyepiece 2108 is similar to that of the right eyepiece 2110.)

[0042] 3A illustrates an example handheld controller component 300 of a mixed reality system 200. In some examples, the handheld controller 300 includes a grip portion 346 and one or more buttons 350 disposed along a top surface 348. In some examples, the buttons 350 may be configured for use as an optical tracking target to track six degrees of freedom (6DOF) movement of the handheld controller 300, for example, in conjunction with a camera or other optical sensor (which may be mounted in a head unit (e.g., wearable head device 2102) of the mixed reality system 200). In some examples, the handheld controller 300 includes a tracking component (e.g., an IMU or other suitable sensor) for detecting a position or orientation, such as a position or orientation relative to the wearable head device 2102. In some examples, such a tracking component may be positioned in a handle of the handheld controller 300 and / or may be mechanically coupled to the handheld controller. The handheld controller 300 can be configured to provide one or more output signals corresponding to one or more of a button press state, or a position, orientation, and / or movement (e.g., via an IMU) of the handheld controller 300. Such output signals may be used as inputs to a processor of the mixed reality system 200. Such inputs may correspond to the position, orientation, and / or movement of the handheld controller (or, for that matter, the position, orientation, and / or movement of a user's hand holding the controller). Such inputs may also correspond to a user pressing a button 350.

[0043] 3B illustrates an example auxiliary unit 320 of the mixed reality system 200. The auxiliary unit 320 can include a battery for providing energy and operating the system 200, and can include a processor for executing programs and operating the system 200. As shown, the example auxiliary unit 320 includes a clip 2128 for attaching the auxiliary unit 320 to a user's belt, etc. It will be apparent that other form factors are also suitable for the auxiliary unit 320, including form factors that do not involve mounting the unit on a user's belt. In some embodiments, the auxiliary unit 320 is coupled to the wearable head device 2102 through a multi-tube cable, which may include, for example, electrical wires and optical fibers. A wireless connection between the auxiliary unit 320 and the wearable head device 2102 can also be used.

[0044] In some examples, the mixed reality system 200 can include one or more microphones to detect sounds and provide corresponding signals to the mixed reality system. In some examples, the microphones may be attached to or integrated with the wearable head device 2102 and configured to detect the user's voice. In some examples, the microphones may be attached to or integrated with the handheld controller 300 and / or the auxiliary unit 320. Such microphones may be configured to detect environmental sounds, ambient noise, the user's or a third party's voice, or other sounds.

[0045] FIG. 4 illustrates an example functional block diagram that may correspond to an example mixed reality system, such as the mixed reality system 200 described above (which may correspond to the mixed reality system 112 with respect to FIG. 1). As shown in FIG. 4, the example handheld controller 400B (which may correspond to the handheld controller 300 ("totem")) includes a totem / wearable head device six degree of freedom (6DOF) totem subsystem 404A, and the example wearable head device 400A (which may correspond to the wearable head device 2102) includes a totem / wearable head device 6DOF subsystem 404B. In an example, the 6DOF totem subsystem 404A and the 6DOF subsystem 404B cooperate to determine six coordinates (e.g., offsets in three translational directions and rotations along three axes) of the handheld controller 400B relative to the wearable head device 400A. The six degrees of freedom may be expressed relative to the coordinate system of the wearable head device 400A. The three translational offsets may be represented as X, Y, and Z offsets in such a coordinate system, a translation matrix, or some other representation. The rotational degrees of freedom may be represented as a sequence of yaw, pitch, and roll rotations, as a rotation matrix, as a quaternion, or some other representation. In some examples, the wearable head device 400A, one or more depth cameras 444 (and / or one or more non-depth cameras) included within the wearable head device 400A, and / or one or more optical targets (e.g., buttons 350 of handheld controller 400B as described above or dedicated optical targets included within handheld controller 400B) may be used for 6DOF tracking. In some examples, the handheld controller 400B may include a camera as described above, and the wearable head device 400A may include an optical target for optical tracking in conjunction with the camera. In some embodiments, the wearable head device 400A and the handheld controller 400B each include a set of three orthogonally oriented solenoids that are used to wirelessly transmit and receive three distinguishable signals.By measuring the relative magnitudes of the three distinguishable signals received in each of the coils used to receive, the 6DOF of the wearable head device 400A relative to the handheld controller 400B can be determined. Additionally, the 6DOF totem subsystem 404A can include an inertial measurement unit (IMU), which is useful for providing improved accuracy and / or more timely information regarding high speed movements of the handheld controller 400B.

[0046] In some examples, it may be necessary to transform coordinates from a local coordinate space (e.g., a coordinate space fixed relative to the wearable head device 400A) to an inertial coordinate space (e.g., a coordinate space fixed relative to the real environment), e.g., to compensate for movement of the wearable head device 400A relative to the coordinate system 108. For example, such a transformation may be necessary so that the display of the wearable head device 400A presents virtual objects in an expected position and orientation relative to the real environment (e.g., a virtual person sitting in a real chair facing forward, regardless of the position and orientation of the wearable head device), rather than in a fixed position and orientation on the display (e.g., the same position in the bottom right corner of the display), preserving the illusion that the virtual objects are present in the real environment (and do not appear unnaturally positioned in the real environment, e.g., as the wearable head device 400A shifts and rotates). In some examples, a compensation transformation between coordinate spaces can be determined by processing images from the depth camera 444 using SLAM and / or visual odometry procedures to determine a transformation of the wearable head device 400A relative to the coordinate system 108. In the example shown in FIG. 4, the depth camera 444 can be coupled to the SLAM / visual odometry block 406 and provide images to the block 406. The SLAM / visual odometry block 406 implementation can include a processor configured to process the images and then determine a position and orientation of the user's head, which can be used to identify a transformation between the head coordinate space and another coordinate space (e.g., an inertial coordinate space). Similarly, in some examples, an additional source of information regarding the user's head pose and location is obtained from the IMU 409. Information from the IMU 409 can be integrated with information from the SLAM / visual odometry block 406 to provide improved accuracy and / or more timely information regarding fast adjustments of the user's head pose and position.

[0047] In some examples, the depth camera 444 can provide 3D images to a hand gesture tracker 411, which can be implemented within a processor of the wearable head device 400A. The hand gesture tracker 411 can identify the user's hand gestures, for example, by matching the 3D images received from the depth camera 444 to stored patterns representing hand gestures. Other suitable techniques for identifying the user's hand gestures will also be apparent.

[0048] In some embodiments, one or more processors 416 may be configured to receive data from the 6DOF headgear subsystem 404B, the IMU 409, the SLAM / visual odometry block 406, the depth camera 444, and / or the hand gesture tracker 411 of the wearable head device. The processor 416 may also send and receive control signals to and from the 6DOF totem system 404A. The processor 416 may be wirelessly coupled to the 6DOF totem system 404A, such as in embodiments where the handheld controller 400B is not tethered. The processor 416 may further communicate with additional components, such as an audio / visual content memory 418, a graphical processing unit (GPU) 420, and / or a digital signal processor (DSP) audio spatializer 422. The DSP audio spatializer 422 may be coupled to a head-related transfer function (HRTF) memory 425. The GPU 420 may include a left channel output coupled to a left source of imagewise modulated light 424 and a right channel output coupled to a right source of imagewise modulated light 426. The GPU 420 may output stereoscopic image data to the imagewise modulated light sources 424, 426, for example, as described above with respect to FIGS. 2A-2D. The DSP audio spatializer 422 may output audio to the left speaker 412 and / or the right speaker 414. The DSP audio spatializer 422 may receive an input from the processor 419 indicating a direction vector from the user to a virtual sound source (e.g., which may be moved by the user via the handheld controller 320). Based on the direction vector, the DSP audio spatializer 422 may determine a corresponding HRTF (e.g., by accessing an HRTF or by interpolating multiple HRTFs). The DSP audio spatializer 422 may then apply the determined HRTF to an audio signal, such as an audio signal corresponding to a virtual sound generated by a virtual object.This can improve the believability and realism of virtual sounds by incorporating the user's relative position and orientation to the virtual sounds in the mixed reality environment, i.e., by presenting virtual sounds that match the user's expectations of what they would hear if the virtual sounds were real sounds in a real environment.

[0049] 4, one or more of the processor 416, GPU 420, DSP audio spatializer 422, HRTF memory 425, and audio / visual content memory 418 may be included in an auxiliary unit 400C (which may correspond to auxiliary unit 320 described above). The auxiliary unit 400C may include a battery 427 to power its components and / or provide power to the wearable head device 400A or handheld controller 400B. Including such components in an auxiliary unit, which may be mounted on the user's waist, can limit the size and weight of the wearable head device 400A, which in turn can reduce fatigue in the user's head and neck.

[0050] 4 presents elements corresponding to various components of an exemplary mixed reality system, various other suitable arrangements of these components will be apparent to those skilled in the art. For example, elements presented in FIG. 4 as being associated with the auxiliary unit 400C may instead be associated with the wearable head device 400A or the handheld controller 400B. Furthermore, some mixed reality systems may dispense with the handheld controller 400B or the auxiliary unit 400C entirely. Such variations and modifications should be understood as falling within the scope of the disclosed embodiments.

[0051] Echo fingerprint estimation

[0052] Presenting virtual audio content to a user may be advantageous in creating an immersive augmented / mixed reality experience. An immersive augmented / mixed reality experience may further blend real and virtual content when persuasive audio is presented in addition to persuasive video. Displaying persuasive virtual video content (e.g., aligned with and / or inseparable from real content) may include estimating the location and orientation of the MR system within the real environment and accurately displaying the virtual video content within the real environment while simultaneously mapping the actual, sometimes unknown, environment. Displaying persuasive virtual video content may further include rendering two sets of identical virtual video content from two different perspectives such that stereoscopic images may be presented to the user, simulating three-dimensional virtual video content. Similar to displaying persuasive virtual video content, presenting virtual audio content in a persuasive manner may also include complex analysis of the real environment. For example, it may be desirable to understand the acoustic properties of the real environment in which the MR system is being used so that the virtual audio content may be rendered in such a way as to simulate the real audio content. The acoustic properties of the real environment can be used by an MR system (e.g., MR system 112, 200) to modify rendering algorithms so that the virtual audio content sounds as if it originates from or otherwise belongs within the real environment. For example, an MR system used in a room with hard flooring and exposed walls may produce virtual audio content that mimics the echo that the real audio content may have. Playing the virtual audio content in a static manner may make the experience less immersive as the user changes the real environment (which may have different acoustic properties).In particular, where real and virtual audio content may interact with each other (e.g., a user may talk to a virtual companion and the virtual companion may talk back to the user), it may be beneficial to render the virtual audio content to mimic the characteristics of the real audio content. To that end, the MR system may determine the acoustic characteristics of the real environment and apply those acoustic characteristics to the virtual audio content (e.g., by modifying the rendering algorithms for the virtual audio content). Additional details may be found in U.S. Patent Application Serial No. 16 / 163,529, the contents of which are incorporated herein in their entirety.

[0053] One parameter that may characterize the acoustic properties of a real environment may be the reverberation time (e.g., T60 time). The reverberation time may include the length of time required for sound to decay by a certain amount (e.g., by 60 decibels). Sound decay may be the result of sound reflecting off surfaces (e.g., walls, floors, furniture, etc.) in the real environment, losing energy, for example, due to geometric diffusion. The reverberation time may be affected by environmental factors. For example, an absorptive surface (e.g., cushions) may absorb sound in addition to geometric diffusion, and the reverberation time may be reduced as a result. In some embodiments, it may not be necessary to have information about the original source to estimate the reverberation time of an environment.

[0054] Another parameter that may characterize the acoustic properties of a real environment may be reverberation gain. The reverberation gain may include the ratio of the direct / source / original energy of a sound to the reverberation energy of a sound (e.g., the energy of the reverberation resulting from the direct / source / original sound), where the listener and the source are substantially in the same place (e.g., a user may clap his / her hands and produce a source sound that may be considered to be substantially in the same place as one or more microphones mounted on a head-mounted MR system). For example, an impulse (e.g., a clap sound) may have an energy associated with the impulse, and the reverberation sound from the impulse may have an energy associated with the reverberation of the impulse. The ratio of the original / source energy to the reverberation energy may be the reverberation gain. The reverberation gain of a real environment may be affected, for example, by an absorptive surface that may absorb the sound and thereby reduce the reverberation energy.

[0055] The reverberation time and reverberation gain may be collectively referred to as a reverberation fingerprint. In some embodiments, the reverberation fingerprint may be passed as one or more input parameters to an audio rendering algorithm, which may enable the audio rendering algorithm to present virtual audio content with the same or similar characteristics as real audio content in a real environment.

[0056] The reverberation fingerprint may be useful because it may characterize the acoustic properties of a real environment independent of the location and / or orientation of the sound source in the real environment. For example, a standard room with four walls, a floor, and a ceiling may exhibit the same (or substantially the same) reverberation time and / or reverberation gain regardless of whether the source is located in a corner of the room, in the center of the room, or along one of the walls / edges of the room. As another example, sound sources directly facing a corner of the room, in the center of the room, or a wall in the room may all behave the same (or substantially the same) according to the reverberation fingerprint of the real environment. The reverberation fingerprint may also be useful because it may characterize the acoustic properties of a real environment independent of the characteristics of the sound source. For example, sound sources (e.g., a person speaking) at low, mid, or high frequencies may all behave the same (or substantially the same) according to the reverberation time and / or reverberation gain of the real environment. Similarly, impulsive sound sources (e.g., banging sounds) and non-impulsive sound sources may behave identically (or substantially identically) according to the reverberation fingerprints (e.g., reverberation time and / or reverberation gain) of the real environment. As another example, high-pitched sound sources and quiet sound sources (e.g., in terms of amplitude) may behave identically (or substantially identically) according to the reverberation fingerprints (e.g., reverberation time and / or reverberation gain) of the real environment. The independence of the reverberation fingerprint from the characteristics and / or location of the sound source may make the reverberation fingerprint a useful tool for rendering virtual audio content in a computationally efficient manner (e.g., the rendering algorithm may be the same unless the user changes the environment, e.g., by moving to a different room). In some embodiments, the reverberation fingerprint may be applied to "normally behaving" rooms (e.g., a standard room with four walls, a floor, and a ceiling) and not to "mal-behaving" rooms (e.g., a long hallway) that may have special acoustic properties.

[0057] In some embodiments, it may be desirable to perform a "blind" estimation of the reverberation fingerprint of the real environment. A blind estimation may be an estimation of the reverberation fingerprint where no information about the sound source may be required. For example, the reverberation fingerprint may be estimated solely based on human speech, and no information about the original speech may be provided to the estimation algorithm. A pause during human speech may provide sufficient time for the reverberation fingerprint to be estimated using a blind estimation. It may be beneficial to perform a blind estimation because such an estimation may be made without requiring a long-term setup process and / or user interaction. In some embodiments, the reverberation time may be estimated blindly and may not require information about the original sound source. In some embodiments, a blind estimation may not be performed on the reverberation gain, which may include information about the original sound source.

[0058] FIG. 5 illustrates an example process 500 for estimating an echo fingerprint according to some embodiments. The example process shown can be implemented using one or more components of a mixed reality system, such as one or more of the wearable head device 2102, handheld controller 300, and auxiliary unit 320 of the example mixed reality system 200 described above, or by a system (e.g., a system including a cloud server) in communication with the mixed reality system 200. In step 502 of the process 500, the input 501 can be split into one or more filtered components, which may then be processed individually. For example, in step 502, a bandpass filter can be applied to the input 501, which may be an audio signal from one or more microphones (e.g., one or more microphones mounted on an MR system). The bandpass filter can preferentially pass a certain frequency range to the filter and / or suppress frequencies outside that frequency range. A bandpass filter can split a signal into smaller component fragments that may be easier to process for computational efficiency. A bandpass filter can also improve the signal-to-noise ratio of a signal by removing undesirable noise at frequencies outside the frequency range. In some embodiments, a bandpass filter can be used to separate an audio signal into six frequency ranges. A reverberation fingerprint (e.g., reverberation time and reverberation gain) can be estimated for each frequency range. This can be used to create a continuous frequency response curve so that each frequency can have an associated reverberation time and / or reverberation gain (e.g., the reverberation time and / or reverberation gain may be interpolated from calculated values ​​that may be centered on the frequency range separated by the bandpass filter). Although six frequency ranges are discussed, an audio signal may be separated into any number of frequency ranges (e.g., using any number of bandpass filters). In some embodiments, an octave filter can be applied to the input signal.In some embodiments, a 1 / 3 octave filter may be applied to the input signal. In some embodiments, signals with frequencies that are too low (e.g., below 100 Hz) may not be analyzed for reverberation fingerprinting (e.g., because low frequencies may not reverberate enough to perform a reverberation fingerprinting analysis).

[0059] In step 504, frequency band boosting can optionally be applied. Frequency band boosting may be applied to low frequencies (e.g., below 500 Hz) that may have a low signal-to-noise ratio but where the signal-to-noise ratio may still be high enough to determine the reverberation fingerprint (e.g., the signal-to-noise ratio may be higher than the signal-to-noise ratio for frequencies below 100 Hz). Frequency band boosting may be applied to other frequency bands, or not at all.

[0060] In step 506, stationary energy estimation can be performed on the signal. Stationary energy estimation can be performed in the frequency domain, the time domain, the spectral domain, and / or any other suitable domain. The signal energy may be estimated by determining the area under the squared magnitude of the signal in the time domain, or by using other suitable methods.

[0061] In step 508, envelope detection can be launched on the signal and may be based on an (estimated) steady-state energy of the signal. The signal envelope can be a characterization of the signal peaks and / or troughs and may define the upper and / or lower boundaries of the signal (e.g., an oscillatory signal). The envelope detection can be performed using a Hilbert transform, a leaky integrator-based root-mean-square detector, and / or other suitable methods.

[0062] In step 510, peak selection can be initiated on the signal envelope. Peak selection can identify local peaks in the signal envelope based on the amplitude of previously detected peaks and / or based on local maxima.

[0063] In step 512, a free decay region estimation can be performed on the signal envelope. A free decay region can be a region of the signal envelope where the envelope decreases (e.g., after a local peak). This can be the result of reverberation resulting in a decrease in the signal envelope where new sounds cannot be detected and only previous sounds continue to reverberate in a real environment. In step 512, a linear fit can be determined for each of one or more free decay regions in the signal. A linear fit can be appropriate if the signal envelope is measured in decibel scale due to the exponential decay of sound energy, and the decibel scale measurements are on a logarithmic scale.

[0064] In step 514, the reverberation time can be estimated. The reverberation time may be estimated based on the free decay region or a portion of the free decay region with the fastest decay slope determined for each free decay region (or portion of the free decay region), which may be determined from a linear fit. In some embodiments, a threshold amount of time after the local peak (e.g., 50 ms) may be ignored in determining the linear fit. This may be beneficial to avoid short-term reverberations (which may behave differently) and / or to help ensure that the regression fits exclusively to the reverberant sound and not the source sound. The linearly fitted slope may represent the amount by which the signal envelope decreases in decibels per unit of time (e.g., per second).

[0065] In some embodiments, multiple linear fits can be applied to a single free decay region. For example, a linear regression may be applied only within the time range where the regression is sufficiently accurate (e.g., 97% or greater correlation). If the linear regression no longer fits the remainder of the free decay region's duration, one or more additional / alternative linear regressions may be applied. Accuracy in the reverberation time estimation can be increased by using only the fastest decay slope within the free decay region, since the associated portion of the free decay region may most accurately represent only the reverberant sound. For example, a portion of the free decay region with a slower decay slope may capture a small amount of non-reverberant (e.g., original / source) sound, which may artificially slow down the measured decay rate. Based on the fastest decay linear fit slope, the reverberation time (which may be the time required for the signal to decay 60 decibels) can be extrapolated.

[0066] FIG. 6 illustrates an example process 600 for estimating reverberation time. The example process 600 may correspond to step 514 of the example process 500 described above. The example process 600 may be implemented using one or more components of a mixed reality system, such as one or more of the wearable head device 2102, the handheld controller 300, and the auxiliary unit 320 of the example mixed reality system 200 described above, or by a system (e.g., a system including a cloud server) in communication with the mixed reality system 200. In step 602 of the example process 600, a local peak (e.g., a local peak from the signal envelope) may be determined. In step 604, a linear regression may be fitted to some or all of the free decay region. The free decay region may be a region of the signal envelope where the envelope decreases (e.g., after the local peak). In some embodiments, the linear regression may not consider a portion of the time after the local peak (e.g., 50 ms after the local peak). In step 608, it may be determined whether the linear fit is sufficiently accurate (e.g., has a sufficiently low root mean square error). If it is determined that the linear fit is not sufficiently accurate, then in step 609, the next free decay region or portion of the free decay region may be examined. If it is determined that the linear fit is sufficiently accurate, then in step 610, it may be determined whether the decay region occurs over a sufficiently long period of time (e.g., >400 ms). If it is determined that the decay region has not occurred over a sufficiently long period of time, then the next free decay region or portion of the free decay region may be examined in step 609. If it is determined that the decay region has occurred over a sufficiently long period of time, then in step 612, it may be determined whether the decay slope from the linear regression is the fastest decay slope over the entire free decay region. If it is determined that the decay slope is not the fastest decay slope over the entire free decay region, then the next free decay region or portion of the free decay region may be examined in step 609.If the decay slope is determined to be the fastest decay slope throughout the free decay region, the reverberation time may be extrapolated in step 614 based on the fastest decay slope.

[0067] In some embodiments, the reverberation time can be estimated using a convergence (or approximate convergence) measurement. For example, the reverberation time can be declared after a threshold number of consecutive free decay regions have decay slopes within a threshold of each other. An average decay slope can then be determined and declared as the reverberation time. In some embodiments, the decay slopes associated with the free decay regions can be weighted according to a quality estimate for each measured decay slope. In some embodiments, a decay slope can be determined to be more accurate when an associated portion of a free decay region lasts for a threshold amount of time (e.g., 400 ms), which can increase the accuracy of the decay slope estimation. In some embodiments, a decay slope can be determined to be more accurate if it has a relatively accurate linear fit (e.g., low root mean square error). The more accurate decay slopes can be assigned a higher weight in the weighted average to determine the reverberation time. In some embodiments, a single decay slope that is determined to be most accurate (e.g., based on decay length and / or linear fit accuracy) can be used to determine the reverberation time, which may be the reverberation time over a given frequency range (e.g., the frequency range selected by the bandpass filter in step 502).

[0068] Referring back to FIG. 5 and process 500, in step 514, a confidence value may be determined and associated with the reverberation time. The confidence value may be determined based on various factors. For example, the confidence value may be based on some convergence decay slope, the linear fit accuracy of the decay slope utilized, the decay length of the decay slope utilized, the difference between the new reverberation time estimate and the previous reverberation time estimate, or any combination of these and / or other factors. In some embodiments, a reverberation time estimate with an associated confidence may not be declared if the confidence value is below a threshold (e.g., because an insufficient free decay region has been detected for convergence). If a reverberation time estimate is not declared, other reverberation time estimates over other frequency ranges (e.g., frequency ranges separated in step 502 using a band pass filter) may still be declared (e.g., if they have sufficiently high confidence values). Reverberation time estimates over missing frequency ranges may be interpolated from declared reverberation times in other frequency ranges.

[0069] In step 516, direct sound energy estimation can be performed. Direct sound energy estimation may utilize information about the direct / source sound. For example, if the direct / source sound is known, the direct sound energy estimation can estimate the energy of the direct / source sound (e.g., by integrating the area under the signal envelope peak that includes the direct / source sound). This can be achieved by using impulse sound, which may be easier to separate the direct / source sound from the reverberant sound. In some embodiments, the user may be prompted (e.g., by the MR system) to clap their hands to produce an impulse sound. In some embodiments, a speaker, e.g., mounted on the MR system, may play the impulse sound. In some embodiments, the impulse sound can be used to estimate both the direct sound energy and the reverberation time estimate. In some embodiments, the direct sound estimation can be estimated blindly (e.g., where a blind estimation can separate the direct / source sound from the reverberant sound without prior knowledge of the direct / source sound).

[0070] In step 518, the reverberant energy may be estimated. The reverberant energy may be estimated by integrating the signal envelope from the end of the direct / source sound until the reverberant sound is no longer detected and / or drops below some gain threshold (e.g., −90 dB).

[0071] In step 520, a reverberation gain may be estimated based on the direct sound energy estimate and the reverberant energy estimate. In some embodiments, the reverberation gain is calculated by taking the ratio of the reverberant energy to the direct sound energy. In some embodiments, the reverberant gain is calculated by taking the ratio of the direct sound energy to the reverberant energy. The reverberation gain estimate may be declared (e.g., passed to an audio rendering algorithm). In some embodiments, a confidence level may be associated with the reverberation gain estimate. For example, if a peak is detected in the reverberant energy estimate, it may indicate that a new direct / source sound has been introduced and the reverberant gain estimate may no longer be accurate. In some embodiments, the reverberation gain estimate may only be declared if the confidence level is at or above a certain threshold.

[0072] In addition to using the reverberation fingerprint to render virtual audio content more realistically, the reverberation fingerprint can also be used to identify real environments and / or to identify changes in the real environment. For example, a user may calibrate an MR system in a first room (e.g., a first acoustic environment) and then move to a second room. The second room may have different acoustic properties (e.g., a different reverberation time and / or a different reverberation gain) than the first room. The MR system may blindly estimate the reverberation time in the second room, determine that the reverberation time is sufficiently different from the previously declared reverberation time, and conclude that the user has changed rooms. The MR system may then declare a new reverberation time and / or a new reverberation gain (e.g., by asking the user to clap their hands again, by playing an impulse through an external speaker, and / or by making a blind estimate of the reverberation gain). As another example, a user may calibrate an MR system in a room, and the MR system may determine a reverberation fingerprint for that room. The MR system may then identify the room based on the echo fingerprint and / or other factors (e.g., location determined through a GPS and / or WiFi network or via one or more sensors, as described above with respect to the example mixed reality system 200). The MR system may access a remote database of previously mapped rooms and identify the room as previously mapped using the echo fingerprint and / or other factors. The MR system may download assets associated with the room (e.g., a previously generated three-dimensional map of the room).

[0073] 7 illustrates an exemplary process for identifying changes in acoustic properties of a real environment. The exemplary process shown can be implemented using one or more components of a mixed reality system, such as one or more of the wearable head device 2102, handheld controller 300, and auxiliary unit 320 of the exemplary mixed reality system 200 described above, or by a system (e.g., a system including a cloud server) in communication with the mixed reality system 200. In step 702 of the exemplary process, a new reverberation time can be determined (e.g., using process 500 and / or process 600). In step 704, the new reverberation time can be compared to a previously declared reverberation time. In step 706, it can be determined whether the new reverberation time is sufficiently different from the previously declared reverberation time. The difference can be evaluated in any number of ways. For example, a difference may be sufficient if the new reverberation time over a frequency range differs from the declared reverberation time over that frequency range by more than a defined threshold (e.g., 10%, which may be enough difference for a human listener to perceive the difference). As another example, sufficient difference may be determined if a threshold number of reverberation times over a given frequency range differ from a threshold number of declared reverberation times over those frequency ranges. As another example, the absolute value of the difference between the new frequency response curve (which may include interpolated points between the declared reverberation times over the tested frequency range) and the declared frequency response curve may be integrated. If the integrated area is above a certain threshold, it may be determined that the new reverberation time is sufficiently different from the declared reverberation time.

[0074] If the new reverberation time is determined to be insufficiently different from the declared reverberation time, the MR system may continue to determine a new reverberation time in step 702. If the new reverberation time is determined to be sufficiently different from the declared reverberation time in step 708, it may be determined that a sufficient number of sufficiently different reverberation times have been detected. For example, three consecutive reverberation time estimates that are all sufficiently different from the declared reverberation item over a given frequency range may be a sufficient number of sufficiently different reverberation times. Other thresholds may also be used (e.g., three out of five most recent reverberation time estimates). If it is determined that a sufficient number of sufficiently different reverberation times have not been detected, the MR system may continue to determine a new reverberation time in step 702. If it is determined that a sufficient number of sufficiently different reverberation times have been detected, a new reverberation time may be declared in step 710. In some embodiments, step 710 may also include a step of initiating a new reverberation gain estimation, which may prompt the user to clap their hands or play an impulse sound from an external speaker. In some embodiments, step 710 may also include accessing a remote database and identifying the new real environment based on the new echo fingerprint and / or other information available to the MR system (e.g., location determined from a GPS and / or WiFi connection or via one or more sensors, as described above with respect to the exemplary mixed reality system 200).

[0075] Although the disclosed embodiments have been fully described with reference to the accompanying drawings, it should be noted that various changes and modifications will be apparent to those skilled in the art. For example, elements of one or more implementations may be combined, deleted, modified, or supplemented to form further implementations. Such changes and modifications should be understood as being included within the scope of the disclosed embodiments as defined by the appended claims.

Claims

1. 1. A method comprising: receiving, at a first time, a first audio signal via a microphone of a wearable head device configured to present a view of a virtual environment; determining an envelope of the first audio signal; estimating a first reverberation time based on the envelope of the first audio signal; determining, based on the estimated first reverberation time, that a location of the wearable head device at the first time corresponds to a first region of the virtual environment; receiving a second audio signal via the microphone of the wearable head device at a second time; determining an envelope of the second audio signal; estimating a second reverberation time based on the envelope of the second audio signal; and determining, based on a difference between the estimated first reverberation time and the estimated second reverberation time, that a location of the wearable head device at the second time corresponds to a second region of the virtual environment, the second region being located in a different room than the first region; A method comprising:

2. The method of claim 1 , wherein the estimation of the first reverberation time comprises determining whether the envelope of the first audio signal has decayed for more than a threshold amount of time.

3. The estimate of the first reverberation time may be determining a linear fit of an attenuation region within the envelope of the first audio signal; determining whether the linear fit has a correlation above a threshold correlation; The method of claim 1 , comprising:

4. 2. The method of claim 1, further comprising estimating a first reverberation gain based on the envelope of the first audio signal, and determining that the location of the wearable head device at the first time corresponds to the first region of the virtual environment is further based on the estimated first reverberation gain.

5. The method of claim 4 , wherein the estimation of the first reverberation gain includes prompting a user to clap their hands.

6. The method of claim 4 , wherein the estimation of the first reverberation gain comprises presenting an impulse sound via a speaker of the wearable head device.

7. determining the envelope of the first audio signal comprises applying a band pass filter to the first audio signal; The method of claim 1 , wherein determining the envelope of the second audio signal comprises applying the band pass filter to the second audio signal.

8. 1. A system comprising: a wearable head device configured to present a view of the virtual environment; A microphone of the wearable head device; One or more processors Equipped with The one or more processors: receiving a first audio signal via the microphone of the wearable head device at a first time; determining an envelope of the first audio signal; estimating a first reverberation time based on the envelope of the first audio signal; determining, based on the estimated first reverberation time, that a location of the wearable head device at the first time corresponds to a first region of the virtual environment; receiving a second audio signal via the microphone of the wearable head device at a second time; determining an envelope of the second audio signal; estimating a second reverberation time based on the envelope of the second audio signal; and determining, based on a difference between the estimated first reverberation time and the estimated second reverberation time, that a location of the wearable head device at the second time corresponds to a second region of the virtual environment, the second region being located in a different room than the first region; A system configured to perform a method including:

9. 9. The system of claim 8, wherein the estimation of the first reverberation time includes determining whether the envelope of the first audio signal has decayed for more than a threshold amount of time.

10. The estimate of the first reverberation time may be determining a linear fit of an attenuation region within the envelope of the first audio signal; determining whether the linear fit has a correlation above a threshold correlation; The system of claim 8 , comprising:

11. 9. The system of claim 8, wherein the method further includes estimating a first reverberation gain based on the envelope of the first audio signal, and determining that the location of the wearable head device at the first time corresponds to the first region of the virtual environment is further based on the estimated first reverberation gain.

12. The system of claim 11 , wherein the estimation of the first reverberation gain includes prompting a user to clap their hands.

13. The system of claim 11 , wherein the estimation of the first reverberation gain includes presenting an impulse sound via a speaker of the wearable head device.

14. A non-transitory computer readable medium storing instructions that, when executed by one or more processors, cause the one or more processors to: receiving, at a first time, a first audio signal via a microphone of a wearable head device configured to present a view of a virtual environment; determining an envelope of the first audio signal; estimating a first reverberation time based on the envelope of the first audio signal; determining, based on the estimated first reverberation time, that a location of the wearable head device at the first time corresponds to a first region of the virtual environment; receiving a second audio signal via the microphone of the wearable head device at a second time; determining an envelope of the second audio signal; estimating a second reverberation time based on the envelope of the second audio signal; and determining, based on a difference between the estimated first reverberation time and the estimated second reverberation time, that a location of the wearable head device at the second time corresponds to a second region of the virtual environment, the second region being located in a different room than the first region; A non-transitory computer readable medium for carrying out a method comprising:

15. 15. The non-transitory computer-readable medium of claim 14, wherein the estimation of the first reverberation time includes determining whether the envelope of the first audio signal has decayed for more than a threshold amount of time.

16. The estimate of the first reverberation time may be determining a linear fit of an attenuation region within the envelope of the first audio signal; determining whether the linear fit has a correlation above a threshold correlation; 15. The non-transitory computer readable medium of claim 14, comprising:

17. 15. The non-transitory computer-readable medium of claim 14, wherein the method further includes estimating a first reverberation gain based on the envelope of the first audio signal, and determining that the location of the wearable head device at the first time corresponds to the first region of the virtual environment is further based on the estimated first reverberation gain.

18. 20. The non-transitory computer-readable medium of claim 17, wherein the estimation of the first reverberation gain includes prompting a user to clap their hands.

19. 20. The non-transitory computer-readable medium of claim 17, wherein the estimation of the first reverberation gain comprises presenting an impulse sound via a speaker of the wearable head device.

20. determining the envelope of the first audio signal comprises applying a band pass filter to the first audio signal; 15. The non-transitory computer-readable medium of claim 14, wherein determining the envelope of the second audio signal comprises applying the band-pass filter to the second audio signal.

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