US 12,141,341 B2
Systems and methods for tracking a controller
Ramesh Chandrasekhar, Encinitas, CA (US); Md Sazzadur Rahman, San Jose, 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 Jun. 27, 2023, as Appl. No. 18/342,649.
Application 18/342,649 is a continuation of application No. 15/417,608, filed on Jan. 27, 2017.
Prior Publication US 2023/0341930 A1, Oct. 26, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06F 3/01 (2006.01); G06F 3/0346 (2013.01); G06T 7/246 (2017.01); G06T 7/292 (2017.01); G06T 7/73 (2017.01)
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)] 20 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 of the controller associated with a particular portion of a scene;
determining 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;
converting, using the transformation, a 6DoF pose of the controller to the coordinate system of the wearable device; and
rendering content in an application based on the converted 6DoF pose.