US 12,434,140 B2
Estimating pose for a client device using a pose prior model
Ben Benfold, Oxford (GB); and Victor Adrian Prisacariu, Oxford (GB)
Assigned to Niantic Spatial, Inc., San Francisco, CA (US)
Filed by Niantic Spatial, Inc., San Francisco, CA (US)
Filed on Apr. 17, 2023, as Appl. No. 18/301,665.
Prior Publication US 2024/0342598 A1, Oct. 17, 2024
Int. Cl. A63F 13/428 (2014.01); A63F 13/211 (2014.01); A63F 13/216 (2014.01); G06F 3/0346 (2013.01)
CPC A63F 13/428 (2014.09) [A63F 13/211 (2014.09); A63F 13/216 (2014.09); G06F 3/0346 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining pose data describing a pose of a client device, wherein the pose data comprises a plurality of measurements captured by sensors of the client device;
accessing a pose prior model that represents probabilities that the client device has possible poses;
generating an initial candidate pose for the client device based on the received pose data;
computing an estimated pose for the client device based on a pose objective function, wherein the pose objective function takes, as inputs, pose data describing a pose of a client device, the pose prior model, and the initial candidate pose, wherein computing the estimated pose for the client device comprises optimizing the pose objective function based on the received pose data, the pose prior model, and the initial candidate pose for the client device; and
providing the estimated pose for use in displaying augmented reality content.