Extended reality (xr) system with body-centric pose estimation using altimeter relative elevation

An extended reality (XR) system, comprising:

• a head-mounted display (HMD) configured for displaying virtual content to a user;
• a first altimeter carried by the HMD, the first altimeter configured for outputting first data indicative of an elevation of the HMD;
• a first peripheral device;
• a second altimeter carried by the first peripheral device, the second altimeter configured for outputting second data indicative of an elevation of the first peripheral device;
• at least one processor configured for determining a relative elevation between the first altimeter and the second altimeter based on the first data and the second data;
• and
• a ground truth sensor system configured for outputting pose data comprising elevation components respectively indicative of an absolute ground truth elevation of the HMD and an absolute ground truth elevation of the first peripheral device, wherein the at least one processor is configured for determining a relative ground truth elevation between the HMD and the first peripheral device based on the absolute ground truth elevation of the HMD and an absolute ground truth elevation of the first peripheral device, and computing a relative elevation error of the determined relative elevation between the first altimeter and the second altimeter based on the determined relative ground truth elevation between the HMD and the first peripheral device and the determined relative elevation between the first altimeter and the second altimeter.

An extended reality (XR) system, comprising:

• a head-mounted display (HMD) configured for displaying virtual content to a user;
• a first altimeter carried by the HMD, the first altimeter configured for outputting first data indicative of an elevation of the HMD;
• a first peripheral device;
• a second altimeter carried by the first peripheral device, the second altimeter configured for outputting second data indicative of an elevation of the first peripheral device;
• at least one processor configured for determining a relative elevation between the first altimeter and the second altimeter based on the first data and the second data;
• a second peripheral device;
• and
• a third altimeter carried by the second peripheral device, the third altimeter configured for outputting third data indicative of an elevation of the second peripheral device;
• wherein the at least one processor is further configured for determining a relative elevation between the first altimeter and the third altimeter based on the first data and the third data.

An extended reality (XR) system, comprising:

• a head-mounted display (HMD) configured for displaying virtual content to a user;
• a first altimeter carried by the HMD, the first altimeter configured for outputting first data indicative of an elevation of the HMD;
• a first peripheral device;
• a second altimeter carried by the first peripheral device, the second altimeter configured for outputting second data indicative of an elevation of the first peripheral device;
• at least one processor configured for determining a relative elevation between the first altimeter and the second altimeter based on the first data and the second data;
• and
• a noisy sensor having a pose estimation drift and carried by the first peripheral device, the noisy sensor configured for outputting noisy pose data having an elevation component indicative of an absolute elevation of the first peripheral device, wherein the at least one processor is configured for correcting the elevation component of the noisy pose data based on the determined relative elevation between the first altimeter and the second altimeter.