Reducing object tracking noise with pose smoothing

An extended reality (XR) device comprising:

• one or more cameras;
• one or more processors;
• and
• at least one memory storing instructions that, when executed by the one or more processors, cause the XR device to perform operations comprising:
• capturing, via the one or more cameras, a plurality of images of an object;
• processing the plurality of images to obtain first pose data indicative of a pose of the object over time and represented in a camera space that is defined by a first coordinate system;
• transforming the first pose data to second pose data represented in a world space that is defined by a second coordinate system;
• filtering the second pose data using a smoothing filter to generate filtered pose data, the filtering of the second pose data comprising, for each pose data item in a time series of the second pose data, using a rotation transformation between the world space and the camera space to apply one or more camera space-specific filter parameters to the pose data item that is represented in the world space;
• and
• dynamically tracking the pose of the object based on the filtered pose data.

One or more non-transitory computer-readable storage media, the one or more non-transitory computer-readable storage media including instructions that, when executed by at least one processor, cause the at least one processor to perform operations comprising:

• obtaining, via one or more cameras, a plurality of images of an object;
• processing the plurality of images to obtain first pose data indicative of a pose of the object over time and represented in a camera space that is defined by a first coordinate system;
• transforming the first pose data to second pose data represented in a world space that is defined by a second coordinate system;
• filtering the second pose data using a smoothing filter to generate filtered pose data, the filtering of the second pose data comprising, for each pose data item in a time series of the second pose data, using a rotation transformation between the world space and the camera space to apply one or more camera space-specific filter parameters to the pose data item that is represented in the world space;
• and
• dynamically tracking the pose of the object based on the filtered pose data.