US 12,277,657 B2
Tracking an augmented reality device
Qi Pan, London (GB); Edward James Rosten, London (GB); Andrew Tristan Spek, London (GB); and Supannee Tanathong, London (GB)
Assigned to Snap Inc., Santa Monica, CA (US)
Filed by Snap Inc., Santa Monica, CA (US)
Filed on Jul. 12, 2023, as Appl. No. 18/221,179.
Application 18/221,179 is a continuation of application No. 17/083,722, filed on Oct. 29, 2020, granted, now 11,748,954.
Claims priority of provisional application 62/704,881, filed on Jun. 1, 2020.
Prior Publication US 2023/0368476 A1, Nov. 16, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 19/00 (2011.01); G06T 7/70 (2017.01)
CPC G06T 19/006 (2013.01) [G06T 7/70 (2017.01)] 20 Claims
OG exemplary drawing
 
1. A method of operating a device, performed by one or more processors, comprising:
determining, using image-based processing, a current-image pose estimate from a current image frame, a previous image frame and a previous pose;
receiving an inertial measurement unit (IMU) pose determined from data generated by an inertial measurement unit including motion sensors;
determining a transformation between the current-image pose estimate and the IMU pose;
applying the transformation to the current-image pose estimate to generate a pose update; and
operating the device based on the pose update.