| CPC G06F 3/0346 (2013.01) [G06F 3/038 (2013.01)] | 20 Claims |
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1. A method for dynamically initializing a 3 degrees of freedom (3DOF) tracking device comprising:
accessing a gyroscope signal from a gyroscope of the 3DOF tracking device of an augmented reality device;
accessing an accelerometer signal from an accelerometer of the 3DOF tracking device;
performing a dynamic initialization process of the 3DOF tracking device by determining an initial state comprising a combination of an initial orientation of the 3DOF tracking device, an initial position of the 3DOF tracking device, and an initial velocity of the 3DOF tracking device, the initial state indicating a dynamic and non-stationary starting condition of the 3DOF tracking device;
integrating only the gyroscope signal and the accelerometer signal without integrating a magnetometer signal to obtain orientation and position signals using the initial state;
refining an inclination signal of the orientation signal using the position signal;
constraining the position signal to remain substantially close to the initial position; and
operating the augmented reality device based on the dynamic and non-stationary starting condition of the 3DOF tracking device.
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