Method and system utilizing phased array beamforming for six degree of freedom tracking for an emitter in augmented reality systems
AssigneeMagic Leap, Inc.
InventorMichael Janusz Woods
Life of this patent
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Abstract
An electromagnetic tracking system includes a handheld controller including a first phased array element characterized by a first phase and a second phased array element characterized by a second phase different than the first phase. The first phased array element and the second phased array element are configured to generate a steerable electromagnetic beam characterized by an electromagnetic field pattern. The electromagnetic tracking system also includes a head mounted augmented reality display including an electromagnetic sensor configured to sense the electromagnetic field pattern.
Claims20
An electromagnetic tracking system comprising:
- a handheld controller including an electromagnetic emitter, the electromagnetic emitter including:
- a first phased array element characterized by a first phase;
- and
- a second phased array element characterized by a second phase different than the first phase wherein the first phased array element and the second phased array element are configured to generate a steerable electromagnetic beam characterized by an electromagnetic field pattern;
- and
- a head mounted display including an electromagnetic sensor configured to sense the electromagnetic field pattern;
- wherein the electromagnetic tracking system is configured to:
- control the first phase and the second phase to steer the electromagnetic beam to increase received power at the electromagnetic sensor;
- and
- determine a pose of the handheld controller relative to the electromagnetic sensor using the electromagnetic field pattern sensed at the electromagnetic sensor.
A method of determining a six degree of freedom (DoF) pose of a handheld controller, the method comprising:
- generating an electromagnetic beam from the handheld controller, wherein the electromagnetic beam is characterized by an electromagnetic field pattern;
- steering the electromagnetic beam to increase received power at a electromagnetic sensor;
- determining a beam angle associated with the electromagnetic beam;
- determining a distance between the handheld controller and the electromagnetic sensor;
- and
- determining the six DoF pose of the handheld controller relative to the electromagnetic sensor using the beam angle and the distance.
A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:
- generating an electromagnetic beam from a handheld controller, wherein the electromagnetic beam is characterized by an electromagnetic field pattern;
- steering the electromagnetic beam to increase received power at a electromagnetic sensor;
- determining a beam angle associated with the electromagnetic beam;
- determining a distance between the handheld controller and the electromagnetic sensor;
- and
- determining a six degree of freedom (DoF) pose of the handheld controller relative to the electromagnetic sensor using the beam angle and the distance.
Dependencies are inferred from the claim text.