Odometry Correction for Head-Mounted Displays

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Solution Overview

Problem

Augmented and virtual reality headsets using inside-out tracking face accumulating odometry errors due to the lack of an absolute reference landmark, which can be sensitive to inconsistencies introduced by correction methods, especially during reduced perception states like blinking or saccadic motion.

Innovation Solution

A head-mounted system that detects pose drift conditions and triggers corrections during reduced perception states, using pre-assigned values for tolerance levels such as blinking or saccadic motion, applying these values as odometry corrections through a combination of sensors like external cameras, eye trackers, and inertia measurement units.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If odometry correction is applied continuously to reduce drift errors, then positioning accuracy is improved, but visual and inertial inconsistencies become noticeable to the user

Engineering Contradiction:

Improvepositioning accuracyVSAvoidvisual and inertial inconsistencies

Core Design Contradiction:

Measurement precisionVSObject-affected harmful factors

Solution Approach 1:

The system performs odometry correction in advance during reduced perception states (blinking, saccadic motion) when the user is less likely to notice inconsistencies. By applying corrections during these pre-identified temporal windows, the system maintains positioning accuracy while minimizing perceptible visual and inertial discontinuities.

Inventive Principle:

Principle #10Preliminary action

2Adaptability or versatility

If inside-out tracking is used to enable autonomous headset operation, then device autonomy is improved, but odometry drift accumulates over time

Engineering Contradiction:

Improvedevice autonomyVSAvoidodometry accuracy

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

The system continuously monitors perception state feedback from sensors (eye trackers, motion sensors) to determine optimal moments for odometry correction. This feedback mechanism enables the system to apply corrections during reduced perception states, maintaining device autonomy while compensating for drift accumulation through timely, context-aware adjustments.

Inventive Principle:

Principle #23Feedback

3Measurement precision

If odometry corrections are applied during normal perception states, then positioning accuracy is improved, but user perception sensitivity increases and detects inconsistencies

Engineering Contradiction:

Improvepositioning accuracyVSAvoidperception consistency

Core Design Contradiction:

Measurement precisionVSReliability

Solution Approach 1:

The system applies odometry corrections with locally optimized timing based on perception state. Instead of uniform continuous correction, it selectively applies corrections during specific temporal windows (reduced perception states) identified by sensor feedback, creating non-uniform correction quality that adapts to user perception characteristics.

Inventive Principle:

Principle #3Local quality

Data Source

PatentUS10191539B2User aware odometry correction technology

Publication Date: 2019.01.29 INTEL CORP

AI summary

Systems, apparatuses and methods may provide for technology to detect a pose drift condition with respect to a head mounted display based on one or more first signals, to detect a reduced perception state with respect to the head mounted display based on one or more second signals, and to trigger a correction of the pose drift condition during the reduced perception state. Additionally, the reduced perception state may correspond to, for example, a blinking condition, a saccadic motion condition and/or an increased head rotation rate.