US 11,836,284 B2
Sensor fusion for electromagnetic tracking
Sheng Wan, San Jose, CA (US); and Michael Janusz Woods, Mountain View, CA (US)
Assigned to MAGIC LEAP, INC.
Filed by Magic Leap, Inc., Plantation, FL (US)
Filed on Dec. 1, 2022, as Appl. No. 18/060,918.
Application 18/060,918 is a continuation of application No. 17/733,729, filed on Apr. 29, 2022, granted, now 11,550,156.
Application 17/733,729 is a continuation of application No. 17/237,879, filed on Apr. 22, 2021, granted, now 11,353,709, issued on Jun. 7, 2022.
Application 17/237,879 is a continuation of application No. 16/811,584, filed on Mar. 6, 2020, granted, now 11,016,305, issued on May 25, 2021.
Claims priority of provisional application 62/834,081, filed on Apr. 15, 2019.
Prior Publication US 2023/0100979 A1, Mar. 30, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06F 3/01 (2006.01); G02B 27/01 (2006.01); G01B 7/004 (2006.01); G06T 7/277 (2017.01); G06T 7/73 (2017.01); G06T 19/00 (2011.01); G06F 3/0346 (2013.01); G06F 18/25 (2023.01)
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
OG exemplary drawing
 
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.