Tracking pose of handheld object

A computing device for tracking a pose of a handheld object used with a head-mounted display device, the computing device comprising:

• a logic device configured to execute instructions;
• and
• a storage device comprising instructions executable by the logic device to:
• receive image data from an image sensing system;
• detect a plurality of feature points of the handheld object in a frame of the image data;
• receive inertial measurement unit (IMU) data from an IMU of the handheld object;
• based on detecting the plurality of feature points and receiving the IMU data, determine a first pose of the handheld object;
• determine that at least a portion of the plurality of feature points is not detected in another frame of the image data;
• using the IMU data, update the first pose of the handheld object to a second pose;
• and
• body-lock the second pose of the handheld object to a body location on a user wearing the head-mounted display device.

A head-mounted display device, comprising:

• an image sensing system;
• and
• a computing device comprising:
• a logic device configured to execute instructions;
• and
• a storage device comprising instructions executable by the logic device to:
• receive image data from the image sensing system;
• detect a plurality of feature points of the handheld object in a frame of the image data;
• receive inertial measurement unit (IMU) data from an IMU of the handheld object;
• based on detecting the plurality of feature points and receiving the IMU data, determine a first pose of the handheld object;
• determine that at least a portion of the plurality of feature points is not detected in another frame of the image data;
• using the IMU data, update the first pose of the handheld object to a second pose;
• determine that the handheld object is not stationary;
• determine that a first threshold time has been reached;
• and
• based on determining that the first threshold time has been reached and that the handheld object is not stationary, body-lock the second pose of the handheld object to a body location on a user wearing the head-mounted display device.