US 11,740,690 B2
Systems and methods for tracking a controller
Ramesh Chandrasekhar, Oceanside, CA (US); Md Sazzadur Rahman, San Diego, CA (US); Martin Renschler, San Diego, CA (US); and Ananthapadmanabhan Arasanipalai Kandhadai, San Diego, CA (US)
Assigned to QUALCOMM Incorporated, San Diego, CA (US)
Filed by QUALCOMM Incorporated, San Diego, CA (US)
Filed on Jan. 27, 2017, as Appl. No. 15/417,608.
Prior Publication US 2018/0217663 A1, Aug. 2, 2018
Int. Cl. G06F 3/01 (2006.01); G06T 7/73 (2017.01); G06T 7/246 (2017.01); G06T 7/292 (2017.01); G06F 3/0346 (2013.01)
CPC G06F 3/012 (2013.01) [G06F 3/011 (2013.01); G06F 3/014 (2013.01); G06F 3/017 (2013.01); G06F 3/0346 (2013.01); G06T 7/246 (2017.01); G06T 7/292 (2017.01); G06T 7/73 (2017.01); G06T 2207/10028 (2013.01)] 28 Claims
OG exemplary drawing
 
1. A method by a wearable device, comprising:
receiving geometric information in a transmission from a controller, the geometric information including a point cloud and a key frame of the controller, wherein the key frame of the controller includes image data associated with a particular portion of a scene;
receiving first six degree of freedom (6DoF) pose information from the controller;
determining overlapping feature points between the key frame of the controller and a key frame of the wearable device, wherein the key frame of the wearable device includes image data associated with the particular portion of the scene;
determining, based on the overlapping feature points, three-dimensional (3D) points in the point cloud of the controller that correspond to 3D points in a point cloud of the wearable device;
determining, based on the 3D points in the point cloud of the controller that correspond to the 3D points in the point cloud of the wearable device, a transformation from a coordinate system of the controller to a coordinate system of the wearable device;
applying the transformation to the first 6DoF pose information to convert a 6DoF pose of the controller from the coordinate system of the controller to the coordinate system of the wearable device; and
rendering content in an application based on the converted 6DoF pose.