Unfused pose-based drift correction of a fused pose of a totem in a user interaction system
AssigneeMagic Leap, Inc.
InventorSheng Wan
Life of this patent
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Abstract
The invention relates generally to a user interaction system having a head unit for a user to wear and a totem that the user holds in their hand and determines the location of a virtual object that is seen by the user. A fusion routine generates a fused location of the totem in a world frame based on a combination of an EM wave and a totem IMU data. The fused pose may drift over time due to the sensor's model mismatch. An unfused pose determination modeler routinely establishes an unfused pose of the totem relative to the world frame. A drift is declared when a difference between the fused pose and the unfused pose is more than a predetermined maximum distance.
Claims17
A user interaction system comprising:
- a totem having:
- a totem body;
- and
- a totem inertial measurement unit (IMU) located on the totem body, to generate a totem IMU signal due to movement of the totem;
- a head unit;
- a processor;
- a storage device connected to the processor;
- a set of instructions on the storage device and executable by the processor, including:
- a world frame;
- an executable routine connected to the totem IMU to generate a first location of the totem in the world frame based on the totem IMU data;
- a location determination modeler that determines a second location of the totem relative to the world frame;
- and
- a location correction routine connected to the first location and the second location to reset sensors of the totem IMU to match the second location;
- a data source to carry image data;
- and
- a display system connected to the data source to display a virtual object using the image data to a user, a location of the virtual object being based on the first location of the totem.
Dependencies are inferred from the claim text.