Head mounted display device for motion synchronization-based head pose estimation and operating method for the same

A head mounted display (HMD) device for motion synchronization-based head pose estimation, the HMD device comprising:

• memory, comprising one or more storage media, storing instructions;
• a simultaneous localization and mapping (SLAM) camera;
• a processor communicatively coupled to the memory and the SLAM camera;
• and
• a motion estimation controller in communication with the processor and the memory, wherein the motion estimation controller is configured to:
• receive motion data from a plurality of motion sensors of the HMD device,
• receive a plurality of image frames from memory of the HMD device,
• estimate a plurality of motion parameters of head movements of a user from the plurality of image frames received from the memory,
• generate a filtered subset of motion data received from the plurality of motion sensors based on the plurality of motion parameters of the head movements,
• synchronize the plurality of image frames received from the memory and the filtered subset of the motion data, and
• estimate the head pose based on the synchronized plurality of image frames and motion data.

One or more non-transitory computer-readable storage media storing one or more computer programs including computer-executable instructions that, when executed by individually or collectively by at least one processor of a head mounted display (HMD) device for motion synchronization-based head pose estimation to perform operations, the operations comprising:

• receiving, by the HMD device, motion data from a plurality of motion sensors of the HMD device;
• receiving, by the HMD device, a plurality of image frames from at least one simultaneous localization and mapping (SLAM) camera of the HMD device;
• estimating, by the HMD device, a plurality of motion parameters of head movements of a user from the plurality of image frames received from memory;
• generating, by the HMD device, a filtered subset of the motion data received from the plurality of motion sensors based on the plurality of motion parameters of the head movements;
• synchronizing, by the HMD device, the plurality of image frames received from the memory and the filtered subset of the motion data;
• and
• estimating, by the HMD device, the head pose based on the synchronized plurality of image frames and motion data.