US 11,867,901 B2
Motion capture for real-time controller and human pose tracking
Jeff Gullicksen, Mountain View, CA (US); Wil Fabrick, San Francisco, CA (US); and Ameya Lonkar, San Jose, CA (US)
Assigned to Reavire, Inc., Mountain View, CA (US)
Filed by Reavire, Inc., Mountainview, CA (US)
Filed on Jun. 9, 2022, as Appl. No. 17/836,418.
Application 17/836,418 is a continuation of application No. 17/397,498, filed on Aug. 9, 2021, granted, now 11,640,055.
Application 17/397,498 is a continuation of application No. 16/422,073, filed on May 24, 2019, granted, now 11,086,124, issued on Aug. 10, 2021.
Claims priority of provisional application 62/803,075, filed on Feb. 8, 2019.
Claims priority of provisional application 62/684,586, filed on Jun. 13, 2018.
Prior Publication US 2022/0308342 A1, Sep. 29, 2022
Int. Cl. G01S 5/02 (2010.01); G01S 5/06 (2006.01); G02B 27/00 (2006.01); G02B 27/01 (2006.01); G01R 33/07 (2006.01); G01S 11/02 (2010.01); G06F 3/01 (2006.01); G06F 3/0346 (2013.01); H01Q 21/28 (2006.01)
CPC G02B 27/0093 (2013.01) [G01R 33/072 (2013.01); G01S 5/0226 (2013.01); G01S 5/06 (2013.01); G01S 11/026 (2013.01); G02B 27/0172 (2013.01); G02B 2027/0138 (2013.01); G02B 2027/0161 (2013.01); G02B 2027/0187 (2013.01); G06F 3/012 (2013.01); G06F 3/0346 (2013.01); H01Q 21/28 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method of tracking wearable sensors attached to respective body parts of a user, the method comprising:
acquiring multiple yaw measurements from a wearable sensor by measurement circuitry within the wearable sensor;
calculating errors in the yaw measurements based on comparisons of the yaw measurements with one or more yaw references; and
correcting the yaw measurements by removing the errors.