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Facebook Patent | Passthrough window object locator in an artificial reality system

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Patent: Passthrough window object locator in an artificial reality system

Drawings: Click to check drawins

Publication Number: 20210192799

Publication Date: 20210624

Applicant: Facebook

Abstract

This disclosure describes an artificial reality system that assists a user in finding, locating, and/or taking possession of an object. In one example, this disclosure describes a system that includes a head-mounted display (HMD), capable of being worn by a user; a mapping engine configured to determine a map of a physical environment including position information about the HMD and an object; and an application engine configured to: detect execution of an application that operates using the object, determine that the object is not in possession of the user, and responsive to detecting execution of the application and determining that the object is not in possession of the user, generate artificial reality content that includes a passthrough window positioned to include the object.

Claims

  1. A system comprising: a head-mounted display (HMD), capable of being worn by a user; a mapping engine configured to determine a map of a physical environment including position information about the HMD and an object; and an application engine configured to: detect execution of an application that operates using the object, determine that the object is not in physical possession of the user, and responsive to detecting execution of the application and determining that the object is not in physical possession of the user, generate, based on the position information about the object, artificial reality content that obscures the physical environment but includes a passthrough window providing a view of a portion of the physical environment, and wherein the passthrough window is positioned to include the object.

  2. The system of claim 1, wherein the object is an input device, and wherein to detect execution of the application that operates using the object, the application engine is further configured to: detect execution of the application that operates based on input from the input device.

  3. The system of claim 2, wherein the application engine is further configured to: determine information about the input device, including a battery status associated with the input device; and output, for display by the HMD, the artificial reality content including a battery status indicator based on the battery status.

  4. The system of claim 2, wherein to generate the artificial reality content, the application engine is further configured to: generate artificial reality content that includes a battery status indicator associated with the input device.

  5. The system of claim 2, wherein the artificial reality content further includes: content prompting the user to grasp the input device.

  6. The system of claim 5, wherein the application engine is further configured to: output, for display by the HMD, the artificial reality content that includes the passthrough window; determine that the input device is possessed by the user; after determining that the input device is possessed by the user, generate updated artificial reality content, wherein the updated artificial reality content does not include the passthrough window; and output, for display by the HMD, the updated artificial reality content.

  7. The system of claim 6, wherein the application engine is further configured to: after outputting the updated artificial reality content, determine a gaze of the user; determine that the input device is positioned within the gaze of the user; responsive to determining that the input device is positioned within the gaze of the user, generating further updated artificial reality content, wherein the further updated artificial reality content includes a representation of the input device and information about the input device; and output, for display by the HMD, the further updated artificial reality content.

  8. The system of claim 7, wherein to generate the further updated artificial reality content, the application engine is further configured to: include, in the information about the input device, information about at least one of: a battery status, a device type, or a button mapping assignment.

  9. The system of claim 2, wherein the input device is a pair of controllers, and wherein the pair of controllers includes a left controller capable of being held by a left hand of the user, and a right controller capable of being held by a right hand of the user, and wherein to generate the artificial reality content, the application engine is further configured to: generate artificial reality content that includes a battery status indicator for each of the left controller and the right controller, and that further includes information indicating at least one of: which of the pair of controllers is the right controller or which of the pair of controllers is the left controller.

  10. The system of claim 2, wherein the input device includes at least one of: a keyboard, a mouse, a stylus, or a controller configured to be held in a hand of the user.

  11. The system of claim 1, wherein the mapping engine includes a tracking system configured to: capture position data associated with each of a plurality of physical objects within the physical environment.

  12. The system of claim 1, wherein the mapping engine includes an image capture system configured to: capture image data representative of the physical environment.

  13. The system of claim 1, wherein the application engine is further configured to: determine that the HMD has moved; responsive to determining that the HMD has moved, generate updated artificial reality content that includes an updated passthrough window positioned to include the object.

  14. The system of claim 1, wherein the application engine is further configured to: determine that the object has moved; and responsive to determining that the object has moved, generate updated artificial reality content that includes an updated passthrough window positioned to include the object.

  15. A method comprising: detecting, by an artificial reality system including a head mounted display (HMD) and a mapping engine, execution of an application that operates using an object; determining, by the artificial reality system, position information about the HMD and the object, determining, by the artificial reality system, that the object is not in physical possession of the user; and responsive to detecting execution of the application and determining that the object is not in physical possession of the user, generating, by the artificial reality system and based on the position information about the object, artificial reality content that obscures the physical environment but includes a passthrough window enabling a view of a portion of the physical environment, and wherein the passthrough window is positioned to include the object.

  16. The method of claim 15, wherein the object is an input device, and wherein detecting execution of the application that operates using the object includes: detect execution of the application that operates based on input from the input device.

  17. The method of claim 16, wherein the method further comprises: determine information about the input device, including a battery status associated with the input device.

  18. The method of claim 16, wherein generating the artificial reality content includes: generate artificial reality content that includes a battery status indicator associated with the input device.

  19. The method of claim 16, wherein generating the artificial reality content includes: generating content prompting the user to grasp the input device.

  20. A non-transitory computer-readable medium comprising instructions for causing processing circuitry of an artificial reality system including a head mounted display (HMD) and a mapping engine to perform operations comprising: detecting execution of an artificial reality application that operates using an object; determining, by the mapping engine, position information about the HMD and the object; determining that the object is not in physical possession of a user; and responsive to detecting execution of the application and determining that the object is not in physical possession of the user, generating, based on the position information about the object, artificial reality content that obscures the physical environment but includes a passthrough window enabling a view of a portion of the physical environment, and wherein the passthrough window is positioned to include the object.

Description

TECHNICAL FIELD

[0001] This disclosure generally relates to artificial reality systems, such as virtual reality, mixed reality and/or augmented reality systems, and more particularly, to presentation of content and performing operations in artificial reality applications.

BACKGROUND

[0002] Artificial reality systems are becoming increasingly ubiquitous with applications in many fields such as computer gaming, health and safety, industrial, and education. As a few examples, artificial reality systems are being incorporated into mobile devices, gaming consoles, personal computers, movie theaters, and theme parks. In general, artificial reality is a form of reality that has been adjusted in some manner before presentation to a user, which may include, e.g., a virtual reality (VR), an augmented reality (AR), a mixed reality (MR), a hybrid reality, or some combination and/or derivatives thereof.

[0003] Typical artificial reality systems include one or more devices for rendering and displaying and/or presenting content. As one example, an artificial reality system may incorporate a head-mounted display (HMD) worn by a user and configured to output artificial reality content to the user. The artificial reality content may include a number of different types of artificial reality content, including see-through AR, overlay AR, completely-generated content, generated content combined with captured content (e.g., real-world video and/or images), or other types. During operation, the user typically interacts with the artificial reality system to select content, launch applications or otherwise configure the system.

SUMMARY

[0004] This disclosure describes an artificial reality system that assists a user in finding, locating, and/or taking possession of an object in the physical environment. Techniques described herein include determining a specific physical object may be used by a user in connection with artificial reality content being presented to a user or in connection with an artificial reality application. In some examples, such an object may be a controller or other input device for use when interacting with an artificial reality environment. In other examples, however, such an object may be a physical object other than an input device.

[0005] Techniques described herein also include generating content for display that includes a passthrough window within artificial reality content. In some examples, such a passthrough window may provide a view into the physical environment while the user is interacting with a virtual reality environment, thereby enabling a user to see aspects or specific objects within the physical environment, which may be helpful when the user attempts to locate or take possession of an object. The passthrough window may be positioned within the artificial reality content presented to the user so that an object can be seen and located by the user. Techniques described herein also include updating the artificial reality content and/or the passthrough window as the user moves toward the object or as the object itself moves.

[0006] In one specific example, an artificial reality system may determine that a user may wish to use and/or take possession of an object, and may present artificial reality content in a manner that enables the user to determine the location of the object. In another example, this disclosure describes operations performed by a system comprising: a head-mounted display (HMD), capable of being worn by a user; a mapping engine configured to determine a map of a physical environment including position information about the HMD and an object; and an application engine configured to: detect execution of an application that operates using the object, determine that the object is not in possession of the user, and responsive to detecting execution of the application and determining that the object is not in possession of the user, generate artificial reality content that includes a passthrough window positioned to include the object.

[0007] In another example, this disclosure describes a method comprising detecting, by an artificial reality system including a head mounted display and a mapping engine, execution of an application that operates using an object; determining, by the artificial reality system and based on a map determined by the mapping engine, that the object is not in possession of the user; and responsive to detecting execution of the application and determining that the object is not in possession of the user, generating, by the artificial reality system, artificial reality content that includes a passthrough window positioned to include the object.

[0008] In another example, this disclosure describes a non-transitory computer-readable medium comprising instructions for causing processing circuitry of an artificial reality system including a head mounted display and a mapping engine to perform operations comprising: detecting execution of an artificial reality application that operates using an object; determining that the object is not in possession of the user; and responsive to detecting execution of the application and determining that the object is not in possession of the user, generating artificial reality content that includes a passthrough window positioned to include the object.

BRIEF DESCRIPTION OF THE DRAWINGS

[0009] FIG. 1 is a conceptual diagram illustrating an example artificial reality system that generates artificial reality content, in accordance with one or more aspects of the present disclosure.

[0010] FIG. 2 is an illustration depicting an example head-mounted display configured to operate in accordance with the techniques of the disclosure.

[0011] FIG. 3 is a block diagram showing example implementations of an example console and an example HMD, in accordance with one or more aspects of the present disclosure.

[0012] FIG. 4 is a block diagram depicting an example of a user device for an artificial reality system, in accordance with one or more aspects of the present disclosure.

[0013] FIG. 5A, FIG. 5B, FIG. 5C, FIG. 5D, and FIG. 5E are conceptual diagrams illustrating an example artificial reality system that may use one or more controllers, in accordance with one or more aspects of the present disclosure.

[0014] FIG. 6 is a conceptual diagram illustrating an example artificial reality system that generates artificial reality content that assists in finding one or more objects not within a field of view of user 101.

[0015] FIG. 7 is a flow diagram illustrating operations performed by an example artificial reality system in accordance with one or more aspects of the present disclosure.

DETAILED DESCRIPTION

[0016] FIG. 1 is a conceptual diagram illustrating operations performed by an example artificial reality system, in accordance with one or more aspects of the present disclosure. In FIG. 1, artificial reality system 100 is depicted within or operating on physical environment 120. Physical environment 120 is shown as a room that includes user 101 and a number of real-world or physical objects, including HMD 112, window 108, table 110, object 111, and wall clock 114. In the example of FIG. 1, user 101 is wearing HMD 112, and object 111 is resting on table 110. User 101 is facing table 110 and the wall that includes window 108.

[0017] Artificial reality system 100 includes head-mounted display (HMD) 112, console 106, one or more sensors 190, and cameras 192A and 192B (collectively “cameras 192,” representing any number of cameras). Although in some examples, external sensors 190 and cameras 192 may be stationary devices (e.g., affixed to the wall), in other examples one or more of external sensors 190 and/or cameras 192 may be included within HMD 112, within a user device (not shown), or within any other device or system. As shown in FIG. 1, HMD 112 is typically worn by user 101 and includes an electronic display and optical assembly for presenting artificial reality content 130 to the user. In addition, HMD 112 may, in some examples, include one or more sensors (e.g., accelerometers) for tracking motion of the HMD and may include one or more image capture devices, e.g., cameras, line scanners and the like, for capturing image data of the surrounding environment.

[0018] Artificial reality system 100 may use information obtained from a real-world or physical three-dimensional (3D) environment to render artificial reality content for display by HMD 112, thereby presenting the content to user 101. In FIG. 1, user 101 views and/or is presented with artificial reality content 130 constructed and rendered by an artificial reality application executing on console 106 and/or HMD 112. Artificial reality content 130 may include images of physical objects within physical environment 120, including one or more physical items within physical environment 120 or in other situations, the artificial reality content might include few or no images of physical objects (e.g., artificial reality content 122B and 122C).

[0019] In FIG. 1, console 106 is shown as a single computing device, such as a gaming console, workstation, a desktop computer, or a laptop. In other examples, console 106 may be distributed across a plurality of computing devices, such as a distributed computing network, a data center, or a cloud computing system. HMD 112, console 106, external sensors 190, and cameras 192, may, as illustrated, be communicatively coupled via network 104, which may be a wired or wireless network, such as Wi-Fi, a mesh network or a short-range wireless communication medium. In some examples, user 101 may use one or more controllers (not shown) to perform gestures or other actions. In such an example, such controllers may be in communication with HMD 112 using near-field communication or short-range wireless communication such as Bluetooth, using wired communication links, or using another type of communication links. Although HMD 112 is shown in FIG. 1 as being in communication with (e.g., tethered to) or in wireless communication with, console 106, in some implementations HMD 112 operates as a stand-alone, mobile artificial reality system. As such, some or all functionality attributed to console 106 in this disclosure may be distributed among one or more user devices, such as one or more instances of HMD 112.

[0020] In some examples, an artificial reality application executing on console 106 and/or HMD 112 presents artificial reality content to user 101 based on a current viewing perspective for user 101. That is, in FIG. 1, the artificial reality application constructs artificial content by tracking and computing pose information for a frame of reference for HMD 112, and uses data received from HMD 112, external sensors 190, and/or cameras 192 to capture 3D information within the real-word, physical 3D environment 120, such as motion by user 101 and/or tracking information with respect to user 101 and one or more physical objects, for use in computing updated pose information for a corresponding frame of reference of HMDs 112 (or another user device). As one example, the artificial reality application may render, based on a current viewing perspective determined for HMD 112, an artificial reality environment, including artificial reality content 130 having, in some cases, artificial reality content overlaid upon images of physical or real-world objects (e.g., window 108). Further, from the perspective of HMD 112, artificial reality system 100 renders artificial reality content based upon the estimated positions and poses for user 101 and other physical objects.

[0021] In some examples, artificial reality system 100 may present an artificial reality environment or system in which user 101 may use one or more physical objects. For example, in some artificial reality applications, such as games, user 101 may interact with artificial reality content using one or more physical input devices that operate as controllers. Similarly, in some artificial reality applications, user 101 may interact with artificial reality content using other types of input devices, such as a physical stylus, keyboard, or pointing device. In other examples, some artificial reality applications or modes may require that user 101 use some other object, such as a physical ball, tennis racket, or a mobile phone or other personal communication device. In still other examples, user 101 may be required or encouraged to wear a specific article of clothing (e.g., hat, vest, shoes). In such examples, artificial reality system 100 may be configured to enable user 101 to use such objects when interacting with an artificial reality application or mode. However, to do so, user 101 typically needs to have physical possession of such objects (e.g., holding controllers, carrying a ball, holding a mobile phone, or wearing a hat, vest, or shoes).

[0022] Yet if user 101 doesn’t have physical possession of one or more objects that are used when operating or using artificial reality system 100, user 101 may seek to find such objects within physical environment 120. In such a situation, user 101 may be tempted to remove HMD 112, because finding a physical object within a physical space is sometimes easier (or at least tends to be a more familiar task) when user 101 is not wearing HMD 112. As a result, user 101 might remove HMD 112 in order to find the desired physical object within physical environment 120. However, removing HMD 112 tends to disrupt the flow of artificial reality system 100, and may detract from the experience of artificial reality system 100. In some examples, techniques are described herein to facilitate or enhance the ability of user 101 to find physical objects in physical environment 120 while user 101 is wearing HMD 112.

[0023] In accordance with one or more aspects of the present disclosure, artificial reality system 100 may present artificial reality content that assists user 101 in finding and/or locating an object, such as object 111, that may be used when using artificial reality system 100. For instance, in an example that can be described with reference to FIG. 1, HMD 112, external sensors 190, and/or cameras 192 capture images within physical environment 120. HMD 112 detects information about a current pose of user 101. Console 106 receives such images and information about the current pose of user 101 and determines the position of physical objects within physical environment 120, including user 101, object 111, and table 110. Console 106 determines, based on the position of physical objects within physical environment 120 and the pose information, that user 101 is standing within physical environment 120 in front of table 110. Based on the position information and pose information, console 106 generates information sufficient to present artificial reality content 130. Console 106 causes HMD 112 to present artificial reality content 130 to user 101 within HMD 112 in the manner shown in FIG. 1.

[0024] In FIG. 1, artificial reality content 130 includes various virtual objects, including one or more virtual mountains 131 shown rising from virtual horizon 132. Such virtual objects may correspond to content presented pursuant to an artificial reality presentation, game, or application. In the example of FIG. 1, however, the artificial reality presentation, game, or application being presented to user 101 within HMD 112 may require that user 101 possess object 111. Accordingly, when generating information sufficient to present artificial reality content 130, console 106 includes information enabling presentation of passthrough window 151, positioned at a location within artificial reality content 130 such that object 111 is visible within passthrough window 151.

[0025] In FIG. 1, therefore, passthrough window 151 provides a reality passthrough view in which object 111 and the physical environment near object 111 is visible. Passthrough window 151 may present an image of object 111 that has been captured by HMD 112, so that object 111 appears within window 151 from the perspective of user 101. In other examples, however, passthrough window 151 may present an image of object 111 captured any other camera within the physical environment 120 (e.g., sensors 190 or cameras 192).

[0026] In passthrough window 151, object 111 is shown positioned near the edge of table 110. In some examples, passthrough window 151 may also include arrow 152, which may serve as an augmented reality marker that helps user 101 to locate object 111 within passthrough window 151. In some examples, object 111 may be highlighted, animated, or otherwise presented in a way that may help user 101 in locating object 111 within passthrough window 151.

[0027] Alternatively, or in addition, arrow 152 may be animated or may move in some way (e.g., bounce) near object 111. Further, in some examples, artificial reality content 130 may include prompt 136 (overlaid on virtual content in artificial reality content 130). Prompt 136 may inform user 101 or direct, suggest, or otherwise indicate to user 101 that object 111 may be used in connection with the current artificial reality application. In addition, prompt 136 may suggest to user 101 that passthrough window 151 may be used to locate and/or pick up object 111 (e.g., without requiring removal of HMD 112).

[0028] In some examples, passthrough window 151 may be presented in response to user input requesting the passthrough window. In one such example, user 101 may simply say “show me my controller,” and console 106 may present passthrough window 151.

[0029] Console 106 may update artificial reality content 130 as user 101 moves. For instance, in some examples, HMD 112, external sensors 190, and/or cameras 192 may capture images within physical environment 120. Console 106 may receive information about the images within physical environment 120. Console 106 may determine, based on the information about the images, that user 101 has moved. In response to such a determination, console 106 may update artificial reality content 130 to reflect a new position, pose, and/or gaze of user 101. In such an example, passthrough window 151 may be positioned in a different location within 130. In addition, virtual content may also be modified or relocated within artificial reality content 130. For example, passthrough window 151 may be positioned in a location within artificial reality content 130 that provides user 101 with a window for viewing object 111 where object 111 would be located in the field of view of user 101 if user 101 were not wearing HMD 112.

[0030] Console 106 may update artificial reality content 130 as object 111 moves. For instance, in some examples, object 111 may tend to be stationary, particularly if user 101 is not in the possession of object 111 (e.g., where object 111 is a controller resting on table 110). However, where object 111 is easily put in motion (e.g., is a ball), or where object 111 happens to be attached to something that might move (e.g., if object 111 is a dog collar, or object 111 is a shoe worn by another user), object 111 may, in some examples, move. In such an example, HMD 112, external sensors 190, and/or cameras 192 may capture images within physical environment 120. In some examples (e.g., where object 111 is a controller), object 111 may alternatively or in addition emit light or signals that one or more of HMD 112, external sensors 190, and/or camera 192 capture. Console 106 may receive information about the images, captured light, and/or signals from physical environment 120. Console 106 may identify object 111 within the images or other information captured by HMD 112, external sensors 190, and/or cameras 192. To identify object 111, console 106 may apply a machine learning algorithm trained to identify, from images, the specific object represented by object 111. Console 106 may determine, based on the received information, that object 111 has moved or is moving. In response to such a determination, console 106 may update artificial reality content 130 to reflect a new location of object 111. In such an example, when 130 is updated, passthrough window 151 may be positioned in a different location within artificial reality content 130.

[0031] The techniques described herein may provide certain technical advantages. For instance, by enabling user 101 to find, pick up, and/or possess one or more objects 111 while still wearing HMD 112, artificial reality system 100 may enable the flow of artificial reality content being presented within HMD 112 to progress more naturally, thereby providing a more realistic, seamless, and/or immersive experience. Similarly, by avoiding situations or instances in which user 101 might be tempted to remove HMD 112, artificial reality system 100 may enable the flow of artificial reality content being presented within HMD 112 to progress more naturally, thereby providing a more realistic, seamless, and/or immersive experience. By enabling a more seamless experience, fewer processing operations may be needed to reinitiate or present disrupted artificial reality user interface flows or workflows. Further, by avoiding disrupted artificial reality user interface flows or workflows, artificial reality system 100 might avoid having to perform additional processing to resume flows.

[0032] In addition, by providing content or functionality that enables user 101 to locate one or more objects 111 more quickly, artificial reality system 100 may perform fewer processing operations to guide user 101 to object 111. By performing fewer processing operations, artificial reality system 100 may consume not only fewer processing cycles, but also less power. As described herein, techniques for enabling user 101 to locate objects 111 more quickly may include, but are not necessarily limited to, a passthrough window presented within artificial reality content.

[0033] FIG. 2 is an illustration depicting an example HMD 112 configured to operate in accordance with the techniques of the disclosure. HMD 112 of FIG. 2 may be an example of HMD 112 of FIG. 1. HMD 112 may be part of an artificial reality system, such as artificial reality system 100, or may operate as a stand-alone, mobile artificial realty system configured to implement the techniques described herein. HMD 112 may include a mobile device (e.g., a smart phone) that is removable from the body of the HMD 112.

[0034] In the example of FIG. 2, HMD 112 includes a front rigid body and a band to secure HMD 112 to a user. In addition, HMD 112 includes an interior-facing electronic display 203 configured to present artificial reality content to the user. Electronic display 203 may be any suitable display technology, such as liquid crystal displays (LCD), quantum dot display, dot matrix displays, light emitting diode (LED) displays, organic light-emitting diode (OLED) displays, cathode ray tube (CRT) displays, e-ink, or monochrome, color, or any other type of display capable of generating visual output. In some examples, the electronic display is a stereoscopic display for providing separate images to each eye of the user. In some examples, the known orientation and position of display 203 relative to the front rigid body of HMD 112 is used as a frame of reference, also referred to as a local origin, when tracking the position and orientation of HMD 112 for rendering artificial reality content according to a current viewing perspective of HMD 112 and the user.

[0035] In the example of FIG. 2, HMD 112 further includes one or more sensors 206, such as one or more accelerometers (also referred to as inertial measurement units or “IMUs”) that output data indicative of current acceleration of HMD 112, GPS sensors that output data indicative of a location of HMD 112, radar or sonar sensors that output data indicative of distances of the HMD 112 from various objects, or other sensors that provide indications of a location or orientation of HMD 112 or other objects within a physical 3D environment. Moreover, HMD 112 may include one or more integrated sensor devices 208, such as a microphone, audio sensor, a video camera, laser scanner, Doppler radar scanner, depth scanner, or the like, configured to output audio or image data representative of a surrounding real-world environment. HMD 112 includes an internal control unit 210, which may include an internal power source and one or more printed-circuit boards having one or more processors, memory, and hardware to provide an operating environment for executing programmable operations to process sensed data and present artificial-reality content on display 203. Internal control unit 210 may be part of a removable computing device, such as a smart phone.

[0036] Although illustrated in FIG. 2 having a specific configuration and structure, HMD 112 may take any of a number of forms. For example, in some implementations, HMD 112 might resemble glasses or may have a different form. Also, although HMD 112 may be configured with a display 203 for presenting representations or images of physical content, in other examples, HMD 112 may include a transparent or partially transparent viewing lens, enabling see-through artificial reality (i.e., “STAR”). Further, HMD may implement features based on wave guides or other STAR technologies.

[0037] In accordance with the techniques described herein, control unit 210 is configured to present content within the context of a physical environment that may include one or more physical objects that a user may wish to locate. For example, HMD 112 may compute, based on sensed data generated by motion sensors 206 and/or audio and image data captured by sensor devices 208, a current pose for a frame of reference of HMD 112. Control unit 210 may include a pose tracking unit, which can execute software for processing the sensed data and/or images to compute the current pose. Control unit 210 may store a master 3D map for a physical environment and compare processed images to the master 3D map to compute the current pose. Alternatively, or additionally, control unit 210 may compute the current pose based on sensor data generated by sensors 206. Based on the computed current pose, control unit 210 may render artificial reality content corresponding to the master 3D map for an artificial reality application, and control unit 210 may display the artificial reality content via the electronic display 203.

[0038] As another example, control unit 210 may generate mapping information for the physical 3D environment in which the HMD 112 is operating and send, to a console or one or more other computing devices (such as one or more other HMDs), via a wired or wireless communication session(s), the mapping information. In this way, HMD 112 may contribute mapping information for collaborate generation of the master 3D map for the physical 3D environment. Mapping information may include images captured by sensor devices 208, tracking information in the form of indications of the computed local poses, or tracking information that provide indications of a location or orientation of HMD 112 within a physical 3D environment (such as sensor data generated by sensors 206), for example.

[0039] In some examples, in accordance with the techniques described herein, control unit 210 may peer with one or more controllers for HMD 112 (controllers not shown in FIG. 2). Control unit 210 may receive sensor data from the controllers that provides indications of user inputs or controller orientations or locations within the physical 3D environment or relative to HMD 112. Control unit 210 may send representations of the sensor data to a console for processing by the artificial reality application, where the indications may be event data for an artificial reality application. Control unit 210 may execute the artificial reality application to process the sensor data.

[0040] FIG. 3 is a block diagram showing example implementations of an example console and an example HMD, in accordance with one or more aspects of the present disclosure. Although the block diagram illustrated in FIG. 3 is described with reference to HMD 112, in other examples, functions and/or operations attributed to HMD 112 may be performed by a different device or system, such as a user device as referenced in connection with FIG. 1.

[0041] In the example of FIG. 3, HMD 112 includes one or more processors 302 and memory 304 that, in some examples, provide a computer platform for executing an operation system 305, which may be an embedded and near (or seemingly-near) real-time multitasking operating system. In turn, operating system 305 provides a multitasking operating environment for executing one or more software components 307. Processors 302 are coupled to electronic display 203 (see FIG. 2). HMD 112 is shown including motion sensors 206 and sensor devices 208 coupled to processor 302, but in other examples, HMD 112 may include neither or merely either of motion sensors 206 and/or sensor devices 208. In some examples, processors 302 and memory 304 may be separate, discrete components. In other examples, memory 304 may be on-chip memory collocated with processors 302 within a single integrated circuit. The memory 304, processors 302, operating system 305, and application engine 340 components may collectively represent an example of internal control unit 210 of FIG. 2.

[0042] HMD 112 may include user input devices, such as a touchscreen or other presence-sensitive screen example of electronic display 203, microphone, controllers, buttons, keyboard, and so forth. Application engine 340 may generate and present a login interface via electronic display 203. A user of HMD 112 may use the user interface devices to input, using the login interface, login information for the user. HMD 112 may send the login information to console 106 to log the user into the artificial reality system.

[0043] Operating system 305 provides an operating environment for executing one or more software components, which include application engine 306, which may be implemented as any type of appropriate module. Application engine 306 may be an artificial reality application having one or more processes. Application engine 306 may send, to console 106 as mapping information using an I/O interface (not shown in FIG. 3) via a network or other communication link, representations of sensor data generated by motion sensors 206 or images generated by sensor devices 208. The artificial reality application may be, e.g., a teleconference application, a gaming application, a navigation application, an educational application, or training or simulation application, for example.

[0044] Console 106 may be implemented by any suitable computing system capable of interfacing with user devices (e.g., HMDs 112) of an artificial reality system. In some examples, console 106 interfaces with HMDs 112 to augment content that may be within physical environment 120, or to present artificial reality content that may include a passthrough window that presents images (or videos) of the physical environment near where one or more objects are located within the physical environment. Such images may, in some examples, reveal the location of one or more objects 111 that a user may wish to locate. In some examples, console 106 generates, based at least on mapping information received from one or more HMDs 112, external sensors 190, and/or cameras 192, a master 3D map of a physical 3D environment in which users, physical devices, and other physical objects are located. In some examples, console 106 is a single computing device, such as a workstation, a desktop computer, a laptop. In some examples, at least a portion of console 106, such as processors 352 and/or memory 354, may be distributed across one or more computing devices, a cloud computing system, a data center, or across a network, such as the Internet, another public or private communications network, for instance, broadband, cellular, Wi-Fi, and/or other types of communication networks, for transmitting data between computing systems, servers, and computing devices.

[0045] In the example of FIG. 3, console 106 includes one or more processors 312 and memory 314 that provide a computer platform for executing an operating system 316. In turn, operating system 316 provides an operating environment for executing one or more software components 317. Processors 312 are coupled to I/O interface 315, which provides one or more I/O interfaces for communicating with external devices, such as a keyboard, game controllers, display devices, image capture devices, and the like. Moreover, I/O interface 315 may include one or more wired or wireless network interface cards (NICs) for communicating with a network, such as network 104 (see, e.g., FIG. 1). Each of processors 302, 312 may comprise any one or more of a multi-core processor, a controller, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or equivalent discrete or integrated logic circuitry. Memory 304, 314 may comprise any form of memory for storing data and executable software instructions, such as random-access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electronically erasable programmable read-only memory (EEPROM), and/or Flash memory. Software components 317 of console 106 operate to provide an overall artificial reality application. In the example of FIG. 3, software components 317 be represented by modules as described herein, including application engine 320, rendering engine 322, pose tracker 326, mapping engine 328, and user interface engine 329.

[0046] Application engine 320 includes functionality to provide and present an artificial reality application, e.g., a teleconference application, a gaming application, a navigation application, an educational application, training or simulation applications, and the like. Application engine 320 and application engine 340 may cooperatively provide and present the artificial reality application in some examples. Application engine 320 may include, for example, one or more software packages, software libraries, hardware drivers, and/or Application Program Interfaces (APIs) for implementing an artificial reality application on console 106. Responsive to control by application engine 320, rendering engine 322 generates 3D artificial reality content for display to the user by application engine 340 of HMD 112.

[0047] Rendering engine 322 renders the artificial content constructed by application engine 320 for display to user 101 in accordance with current pose information for a frame of reference, typically a viewing perspective of HMD 112, as determined by pose tracker 326. Based on the current viewing perspective, rendering engine 322 constructs the 3D, artificial reality content which may be overlaid, at least in part, upon the physical 3D environment in which HMD 112 is located. During this process, pose tracker 326 may operate on sensed data received from HMD 112, such as movement information and user commands, and, in some examples, data from external sensors 190 and/or cameras 192 (as shown in FIG. 1) to capture 3D information within the physical 3D environment, such as motion by HMD 112, a user thereof, a controller, and/or feature tracking information with respect to the user thereof.

[0048] Pose tracker 326 determines information relating to a pose of a user within a physical environment. For example, console 106 may receive mapping information from HMD 112, and mapping engine 328 may progressively generate a map for an area in which HMD 112 is operating over time, HMD 112 moves about the area. Pose tracker 326 may localize HMD 112, using any of the aforementioned methods, to the map for the area. Pose tracker 326 may also attempt to localize HMD 112 to other maps generated using mapping information from other user devices. At some point, pose tracker 326 may compute the local pose for HMD 112 to be in an area of the physical 3D environment that is described by a map generated using mapping information received from a different user device. Using mapping information received from HMD 112 located and oriented at the computed local pose, mapping engine 328 may join the map for the area generated using mapping information for HMD 112 to the map for the area generated using mapping information for the different user device to close the loop and generate a combined map for the master 3D map. Mapping engine 328 stores such information as map data 330. Based sensed data collected by external sensors 190, cameras 192, HMD 112, or other sources, pose tracker 326 determines a current pose for the frame of reference of HMD 112 and, in accordance with the current pose, provides such information to application engine 320 for generation of artificial reality content. That artificial reality content may then be communicated to HMD 112 for display to the user via electronic display 203.

[0049] Mapping engine 328 may be configured to generate maps of a physical 3D environment using mapping information received from user devices. Mapping engine 328 may receive the mapping information in the form of images captured by sensor devices 208 at local poses of HMD 112 and/or tracking information for HMD 112, for example. Mapping engine 328 processes the images to identify map points for determining topographies of the scenes in the images and use the map points to generate map data that is descriptive of an area of the physical 3D environment in which HMD 112 is operating. Map data 330 may include at least one master 3D map of the physical 3D environment that represents a current best map, as determined by mapping engine 328 using the mapping information.

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