CPC G02B 27/0176 (2013.01) [G06F 1/1658 (2013.01); H01Q 1/22 (2013.01); G01B 7/003 (2013.01); G01S 1/20 (2013.01); G01S 1/24 (2013.01); G01S 5/00 (2013.01); G01S 5/0289 (2013.01); G01S 19/49 (2013.01); G02B 27/017 (2013.01); G02B 2027/0178 (2013.01); G06F 1/163 (2013.01); G06F 1/1698 (2013.01); G06F 3/0346 (2013.01); H01Q 1/2291 (2013.01); H04W 4/02 (2013.01); H04W 4/025 (2013.01); H04W 4/026 (2013.01); H04W 56/0065 (2013.01); H04W 84/12 (2013.01)] | 18 Claims |
10. A head-mountable device comprising:
a Wi-Fi chipset operable for wireless data communications;
an inertial measurement unit;
a processor;
a non-transitory computer-readable medium comprising program instructions, which when executed by the processor, cause the processor to:
use the Wi-Fi chipset to transmit and receive packets to a plurality of access points or peer devices;
based on the transmitted and received packets, determine a respective round-trip time corresponding to each access point or peer device;
implement a Wi-Fi round trip time (RTT) process to determine a location of the head-mountable device based on the respective round-trip times for the plurality of access points or peer devices;
based on data generated by the inertial measurement unit, determine a pose of the head-mountable device;
determine a location of a first object in an environment of the head-mountable device; and
based on (a) the location and pose of the head mountable device, and (b) the location of the first object, determine a relative location of the first object, wherein determine the relative location of the first object comprises determining that the relative location of the first object is behind a wearer of the head-mountable device.
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