Sensor data damping

A method at a damping logic comprising:

• receiving a stream of sensor data from a sensor configured to capture depth data, the sensor data comprising joint position data calculated from a stream of images;
• damping the sensor data from the sensor configured to capture depth data to produce damped sensor data;
• calculating a difference between a current item of the stream of sensor data from the sensor configured to capture depth data and a corresponding damped item from the damping logic;
• comparing the difference with a threshold;
• on the basis of the comparison, modifying the damped item by the threshold;
• replacing the damped item with the modified damped item, and thereby reducing latency in the stream of sensor data;
• and
• using the stream of sensor data, including the modified damped item, to control a downstream system.

A system comprising:

• a sensor configured to capture depth data;
• a processor;
• memory having damping logic at least partly stored in the memory and executable by the processor to:
• receive a stream of sensor data from the sensor configured to capture depth data;
• damp the sensor data from the sensor configured to capture depth data to produce damped sensor data;
• calculate a difference between a current item of the stream of sensor data from the sensor configured to capture depth data and a corresponding damped item from the damping logic;
• compare the difference with a threshold;
• on the basis of the comparison, modify the damped item by the threshold;
• and
• replace the damped item in a stream of output data with a modified damped item adjusted by the threshold, thereby reducing latency in the stream of output data.