Calibration of stereo cameras and handheld object

A method for determining a calibration for a handheld object via a head-mounted device comprising a stereo camera arrangement, the method comprising:

• receiving, from a first camera of the stereo camera arrangement, first image data from a perspective of the first camera;
• receiving, from a second camera of the stereo camera arrangement, second image data from a perspective of the second camera;
• detecting, in the first image data and the second image data, a plurality of light sources of the handheld object;
• determining a three-dimensional position of each light source of the plurality of light sources detected;
• and
• determining a calibration for the handheld object based upon each three-dimensional position determined.

A head-mounted device, comprising:

• a stereo camera arrangement;
• a logic device configured to execute instructions;
• and
• a storage device comprising instructions executable by the logic device to
• for each camera in the stereo camera arrangement,
• receive image data of a surrounding environment from a perspective of the camera,
• detect via the image data a plurality of feature points of a handheld object in a field of view of the camera,
• determine a location of each feature point detected, and
• determine a pose of the handheld object from the perspective of the camera based on the location of each feature point determined;
• update one or more calibration parameters for the stereo camera arrangement based on the pose of the handheld object determined for each camera;
• determine a three-dimensional position of each feature point based on the location of each feature point determined for each camera of the stereo camera arrangement;
• and
• update one or more calibration parameters for the handheld object based on the three-dimensional position of each feature point determined.