Extended reality (XR) system with body-centric pose estimation using altimeter relative elevation

An extended reality (XR) system, comprising:

• a head-mounted display (HMD) configured for displaying virtual content to a user;
• a first altimeter carried by the HMD, the first altimeter configured for outputting first atmospheric pressure data indicative of an elevation of the HMD;
• a hand-held control;
• a second altimeter carried by the hand-held control, the second altimeter configured for outputting second atmospheric pressure data indicative of an elevation of the hand-held control;
• at least one processor configured for determining a relative elevation between the first altimeter and the second altimeter based on the first atmospheric pressure data and the second atmospheric pressure data;
• and
• a ground truth sensor system configured for outputting pose data comprising elevation components respectively indicative of an absolute ground truth elevation of the HMD and an absolute ground truth elevation of the hand-held control, wherein the at least one processor is configured for determining a relative ground truth elevation between the HMD and the hand-held control based on the absolute ground truth elevation of the HMD and an absolute ground truth elevation of the hand-held control, and computing a relative elevation error of the determined relative elevation between the first altimeter and the second altimeter based on the determined relative ground truth elevation between the HMD and the hand-held control and the determined relative elevation between the first altimeter and the second altimeter.

An extended reality (XR) system, comprising:

• a head-mounted display (HMD) configured for displaying virtual content to a user;
• a first altimeter carried by the HMD, the first altimeter configured for outputting first atmospheric pressure data indicative of an elevation of the HMD;
• a hand-held control;
• a second altimeter carried by the hand-held control, the second altimeter configured for outputting second atmospheric pressure data indicative of an elevation of the hand-held control;
• at least one processor configured for determining a relative elevation between the first altimeter and the second altimeter based on the first atmospheric pressure data and the second atmospheric pressure data;
• a user-wearable compute pack configured for processing, cashing, and/or storing data, wherein the HMD is configured for using the data to display the virtual content to a user;
• and
• a third altimeter carried by the user-wearable compute pack, the third altimeter configured for outputting third atmospheric pressure data indicative of an elevation of the compute pack;
• wherein the at least one processor is further configured for determining a relative elevation between the first altimeter and the third altimeter based on the first atmospheric pressure data and the third atmospheric pressure data.

An extended reality (XR) system, comprising:

• a head-mounted display (HMD) configured for displaying virtual content to a user;
• a first altimeter carried by the HMD, the first altimeter configured for outputting first atmospheric pressure data indicative of an elevation of the HMD;
• a hand-held control;
• a second altimeter carried by the hand-held control, the second altimeter configured for outputting second atmospheric pressure data indicative of an elevation of the hand-held control;
• at least one processor configured for determining a relative elevation between the first altimeter and the second altimeter based on the first atmospheric pressure data and the second atmospheric pressure data;
• and
• a noisy sensor having a pose estimation drift and carried by the hand-held control, the noisy sensor configured for outputting noisy pose data having an elevation component indicative of an absolute elevation of the hand-held control, wherein the at least one processor is configured for correcting the elevation component of the noisy pose data based on the determined relative elevation between the first altimeter and the second altimeter.