CPC G06T 15/20 (2013.01) [G01C 19/00 (2013.01); G01P 7/00 (2013.01); G01P 13/00 (2013.01); G01P 15/08 (2013.01); G06F 3/011 (2013.01); G06T 19/006 (2013.01)] | 20 Claims |
1. A method comprising:
receiving, via a sensor of a wearable head device, first image data and second image data;
receiving, via a first inertial measurement unit (IMU) of the wearable head device, first inertial data and third inertial data;
receiving, via a second IMU of the wearable head device, second inertial data and fourth inertial data;
calculating a first preintegration term based on the first image data and based further on one or more of the first inertial data and the second inertial data;
calculating a second preintegration term based on the second image data and based further on one or more of the third inertial data and the fourth inertial data;
estimating a position of the wearable head device based on a combination of the first preintegration term and the second preintegration term; and
presenting virtual content, via a display of the wearable head device, based on the estimated position of the wearable head device.
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