Hand-held controller pose tracking system

A system comprising:

• a display for presenting a virtual environment to a user;
• one or more image devices for capturing image data associated with a physical environment surrounding the user;
• one or more wireless communication interfaces for receiving data from a first hand-held controller;
• one or more processors;
• non-transitory computer-readable media storing computer-executable instructions, which when executed by the one or more processors cause the one or more processors to perform operations comprising:
• determining a plurality of candidate blobs within the image data;
• generating one or more valid associations for individual ones of the plurality of candidate blobs based at least in part on a stored model;
• generating a plurality of candidate poses for a first-hand held controller based at least in part on the one or more valid associations;
• eliminating at least one of the plurality of candidate poses based at least in part on the data from the first hand-held controller;
• and
• selecting a pose of the first hand-held controller from the plurality of candidate poses;
• determining an intensity of individual ones of the plurality of candidate blobs;
• determining a change in intensity of the individual ones of the plurality of candidate blobs based at least in part on the intensity and a prior intensity of the individual ones of the plurality of candidate blobs from a prior frame of the image data;
• and
• determining an identity of the first hand-held controller based at least in part on the change in intensity of the individual ones of the plurality of candidate blobs and a known bit sequence.

One or more non-transitory computer-readable media storing computer-executable instructions, which when executed by a one or more processors cause the one or more processors to perform operations comprising:

• receive image data from one or more image devices, the image data including data representatives of an object in a physical environment and wherein the image data includes first image data from a first image device and second image data from a second image device;
• determining a plurality of candidate blobs within the image data, individual ones of the candidate blobs having an intensity above an intensity threshold;
• determining a location associated with individual ones of the plurality of candidate blobs;
• generating one or more sets of associations for individual ones of the plurality of candidate blobs;
• generating a plurality of candidate poses for the object based at least in part on the sets of associations;
• selecting a pose of the object from the plurality of candidate poses;
• projecting model points of a model into the first image data and the second image data;
• determining a first number of model points that are within a bounds of the first image data;
• determining a second number of model points that are within a bounds of the second image data;
• and
• responsive to determining that the first number of model points fails to meet or exceed a threshold number and the second number of model points fails to meet or exceed the threshold number, utilizing the first image data and the second image data to track the pose of the object.