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    SENSOR FUSION FOR ELECTROMAGNETIC TRACKING
    4.
    发明公开
    SENSOR FUSION FOR ELECTROMAGNETIC TRACKING 审中-公开

    公开(公告)号：EP4439255A2

    公开(公告)日：2024-10-02

    申请号：EP24194936.1

    申请日：2020-03-06

    申请人： Magic Leap, Inc.

    发明人： WAN, Sheng ,  WOODS, Michael Janusz

    IPC分类号： G06F3/01

    CPC分类号： G06F3/011 ,  G06F3/0346 ,  G06F3/012 ,  G01S5/06 ,  G01S5/10 ,  G06F3/014 ,  G06F2218/0020230101

    摘要： Head-mounted augmented reality (AR) devices can track pose of a wearer's head or pose of a hand-held user input device to enable wearer interaction in a three-dimensional AR environment. A pose sensor (e.g., an inertial measurement unit) in the user input device can provide data on pose (e.g., position or orientation) of the user input device. An electromagnetic (EM) tracking system can also provide pose data. For example, the handheld user input device can include an EM emitter that generates an EM field, and the head-mounted AR device can include an EM sensor that senses the EM field. The AR device can combine the output of the pose sensor and the EM tracking system to reduce drift in the estimated pose of the user input device or to transform the pose into a world coordinate system used by the AR device. The AR device can utilize a Kalman filter to combine the output of the pose sensor and the EM tracking system.