Systems and methods for tracking a controller
AssigneeQUALCOMM Incorporated
InventorsRamesh CHANDRASEKHAR, Md Sazzadur RAHMAN, Martin RENSCHLER, Ananthapadmanabhan Arasanipalai KANDHADAI
Life of this patent
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Abstract
A method by a wearable device is described. The method includes receiving geometric information from a controller. The geometric information includes a point cloud and a key frame of the controller. The method also includes receiving first six degree of freedom (6DoF) pose information from the controller. The method further includes synchronizing a coordinate system of the wearable device with a coordinate system of the controller based on the point cloud and the key frame of the controller. The method additionally includes rendering content in an application based on the first 6DoF pose information.
Claims30
A method comprising:
- obtaining first geometric information from a controller, the first geometric information including a first point cloud of the controller associated with a particular portion of a scene;
- obtaining second geometric information based on image data from a camera of a wearable device, the second geometric information including a second point cloud of the wearable device associated with the particular portion of the scene;
- determining a correspondence between the first point cloud and the second point cloud based on three-dimensional (3D) points in the first point cloud that correspond to 3D points in the second point cloud;
- outputting, based on the correspondence, a third point cloud including points from the first point cloud and points from the second point cloud;
- and
- determining a six degree of freedom (6DoF) pose based on the third point cloud.
An apparatus, comprising:
- a memory;
- and
- a processor in communication with the memory, the processor configured to:
- obtain first geometric information from a controller, the first geometric information including a first point cloud of the controller associated with a particular portion of a scene;
- obtain second geometric information based on image data from a camera of a wearable device, the second geometric information including a second point cloud of the wearable device associated with the particular portion of the scene;
- determine a correspondence between the first point cloud and the second point cloud based on three-dimensional (3D) points in the first point cloud that correspond to 3D points in the second point cloud;
- output, based on the correspondence, a third point cloud including points from the first point cloud and points from the second point cloud;
- and
- determine a six degree of freedom (6DoF) pose based on the third point cloud.
Dependencies are inferred from the claim text.