Multi-layered artificial reality controller pose tracking architecture having prioritized motion models

A method comprising:

• obtaining, by an image capture device of an artificial reality system including a head mounted display (HMD), image data representative of a physical environment;
• determining that two or more motion models of a plurality of motion models are activated based on controller measurement data for a hand-held controller satisfying one or more activation conditions associated with each corresponding motion model of the plurality of motion models;
• concurrently evaluating the two or more activated motion models;
• determining, by a non-FOV tracker of the artificial reality system, controller state data for the hand-held controller in accordance with a motion model of the two or more activated motion models having a highest priority, wherein the determining the controller state data in accordance with the motion model is in response to determining that the hand-held controller is not trackable within the image data;
• determining, by the artificial reality system, a controller pose representing a position and orientation of the hand-held controller based, at least in part, on the controller state data;
• and
• rendering, by the artificial reality system for display at the HMD, artificial reality content and at least one graphical object in accordance with the controller pose.

A non-transitory, computer-readable medium comprising instructions that, when executed, cause one or more processors of an artificial reality system including a head mounted display (HMD) to:

• obtain image data representative of a physical environment via an image capture device;
• determine that two or more motion models of a plurality of motion models are activated based on controller measurement data for a hand-held controller satisfying one or more activation conditions associated with each corresponding motion model of the plurality of motion models;
• concurrently evaluate the two or more activated motion models;
• determine the controller state data for the hand-held controller in accordance with a motion model of the two or more activated motion models having a highest priority, wherein the determination of the controller state data in accordance with the motion model is in response to a determination that the hand-held controller is not trackable within the image data;
• determine a controller pose representing a position and orientation of the hand-held controller based, at least in part, on the controller state data;
• and
• render for display at the HMD, artificial reality content and at least one graphical object in accordance with the controller pose.