CPC G06F 3/011 (2013.01) [G01B 7/004 (2013.01); G02B 27/0172 (2013.01); G02B 27/0179 (2013.01); G06F 3/0346 (2013.01); G06F 18/25 (2023.01); G06T 7/277 (2017.01); G06T 7/74 (2017.01); G06T 19/006 (2013.01); G02B 2027/0187 (2013.01); G06T 2207/30244 (2013.01)] | 9 Claims |
1. A wearable system comprising:
a head-mounted display;
a handheld totem;
an electromagnetic (EM) tracking system configured to:
determine, based at least on an EM field sensed by the EM tracking system:
a first estimated initial totem pose; and
a second estimated initial totem pose having an opposite orientation from the first estimated initial totem pose;
periodically determine, based at least on a current EM field sensed by the EM tracking system, a first error state associated with the first estimated initial totem pose and a second error state associated with the second estimated initial totem pose; and
in response to determining that the first error state exceeds a threshold, establish the second estimated initial totem pose as an initial totem pose of the handheld totem and disregard the first estimated initial totem pose; or
in response to determining that the second error state exceeds the threshold, establish the first estimated initial totem pose as the initial totem pose of the handheld totem and disregard the second estimated initial totem pose.
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