Augmented reality using a split architecture

Augmented-reality (AR) glasses comprising:

• an inertial measurement unit (IMU) configured to collect IMU data;
• a camera configured to capture camera data;
• a wireless interface configured to transmit and receive first information to and from a computing device over a wireless communication channel;
• an AR display configured to display second information to a user of the AR glasses;
• and
• a processor configured by software to:
• transmit the IMU data and the camera data to the computing device, the computing device configured to:
• compute initial high-resolution pose data based on the IMU data and the camera data;
• estimate a first pose based on the initial high-resolution pose data and an estimate of a latency corresponding to rendering;
• and
• render a two-dimensional (2D) texture of an AR element based on the first pose;
• receive the initial high-resolution pose data, the first pose, and the 2D texture of the AR element from the computing device;
• compute corrected-high-resolution pose data based on the IMU data and the initial high-resolution pose data;
• estimate a second pose based on the corrected-high-resolution pose data;
• warp the 2D texture of the AR element based on a comparison of the second pose to the first pose;
• and
• trigger display of the warped 2D texture of the AR element on the AR display.

A split-architecture, augmented-reality (AR) system comprising:

• a computing device configured to:
• compute initial high-resolution pose data;
• estimate a latency of rendering;
• estimate a first pose based on the latency of rendering and the initial high-resolution pose data;
• and
• render a two-dimensional (2D) texture of an AR element based on the first pose;
• and
• AR glasses communicatively coupled to the computing device, the AR glasses configured to:
• collect inertial measurement unit (IMU) data and camera data;
• compute corrected-high-resolution pose data based on the IMU data and the initial high-resolution pose data;
• estimate a second pose based on the corrected-high-resolution pose data;
• compare the second pose and the first pose;
• warp the 2D texture of the AR element based on the comparison of the second pose to the first pose;
• and
• display the warped 2D texture of the AR element on an AR display of the AR glasses.