Pose tracking an augmented reality device

A method of augmented reality comprising:

• receiving pose information from a plurality of sensors;
• processing the pose information with a band-agnostic filter configured to reduce an all-band tracking error of the pose information;
• processing the pose information from the band-agnostic filter with a band-specific filter configured to reduce a tracking error of the pose information in a selected frequency band;
• and
• displaying a virtual object on a see-through display, such that the position of the virtual object on the see-through display is a function of the pose information as filtered by the band-agnostic filter and the band-specific filter.

A head-mounted display device comprising:

• a wearable see-through display;
• a plurality of sensors;
• and
• a display engine configured to position a virtual object on a see-through display as a function of a tracked pose of the head-mounted display device such that a perceived positional difference between the virtual object and a real-world object viewed through the see-though display is filtered in a specified frequency band.