Pose estimation in extended reality systems

An apparatus comprising:

• an integrated circuit comprising:
• a set of lower-power circuit elements configured to:
• track, in a lower-power processing mode, a position and orientation of the apparatus during a lower-power processing period;
• initiate a higher-power processing mode for tracking the position and orientation of the apparatus during a higher-power processing period;
• and
• a set of higher-power circuit elements configured to track, in the higher-power processing mode, the position and orientation of the apparatus during the higher-power processing period, wherein the set of higher-power circuit elements track the position and orientation of the apparatus using an element that is not included in the set of lower-power circuit elements or used by the set of lower-power circuit elements during the lower-power processing mode.

At least one non-transitory computer-readable medium comprising:

• a first set of instructions which, when executed by a set of lower-power circuit elements on an integrated circuit, cause the set of lower-power circuit elements to:
• track, in a lower-power processing mode during a lower-power processing period, a position and orientation of a computing device;
• initiate a higher-power processing mode for tracking the position and orientation of the computing device during a higher-power processing period;
• and
• a second set of instructions which, when executed by a set of higher-power circuit elements on the integrated circuit, cause the set of higher-power circuit elements to:
• track, in the higher-power processing mode, the position and orientation of the computing device during the higher-power processing period, wherein the set of higher-power circuit elements track the position and orientation of the computing device using an element that is not included in the set of lower-power circuit elements or used by the set of lower-power circuit elements during the lower-power processing mode.