US-20260126853-A1 - DETERMINING ORIENTATION INFORMATION

Abstract

Systems and techniques are described herein for determining pose information. For instance, a method for determining pose information is provided. The method may include determining a first pose of an apparatus using a first mode, wherein determining the first pose of the apparatus using the first mode includes processing first inertial-measurement unit (IMU) data; determining that the first IMU data satisfies a condition; responsive to determining that the first IMU data satisfies the condition, determining a second pose of the apparatus using a second mode, wherein determining the second pose of the apparatus using the second mode includes processing image data; determining an IMU bias based on the first pose and the second pose; and determining a third pose of the apparatus, wherein determining the third pose of the apparatus includes processing second IMU data based on the IMU bias.

Inventors

• Srujan Babu NANDIPATI
• Pushkar Gorur Sheshagiri
• Ajit Deepak Gupte
• Gerhard Reitmayr
• Lakshmi Phalguni KUCHIBHOTLA
• Abhijeet BISAIN

Assignees

• QUALCOMM INCORPORATED

Dates

Publication Date

20260507

Application Date

20241105

Claims (20)

1. 1 . A device for determining pose information, the device comprising: at least one memory; and at least one processor coupled to the at least one memory and configured to: determine a first pose of an apparatus using a first mode, wherein determining the first pose of the apparatus using the first mode includes processing first inertial-measurement unit (IMU) data, wherein the first pose includes a three degrees of freedom (3DOF) pose; determine that the first IMU data satisfies a condition; responsive to determining that the first IMU data satisfies the condition, determine a second pose of the apparatus using a second mode, wherein determining the second pose of the apparatus using the second mode includes processing image data, wherein the first pose includes a six degrees of freedom (6DOF) pose; determine an IMU bias based on the first pose and the second pose; and determine a third pose of the apparatus using the first mode, wherein determining the third pose of the apparatus includes processing second IMU data based on the IMU bias, and wherein the third pose includes a 3DOF pose.
2. 2 . The device of claim 1 , wherein the condition is based on a magnetic dip angle.
3. 3 . The device of claim 1 , wherein, to determine that the first IMU data satisfies the condition, the at least one processor is configured to determine that a magnetic dip angle of the first IMU data deviates from a reference dip angle beyond a dip-angle threshold.
4. 4 . The device of claim 1 , wherein, to determine that the first IMU data satisfies the condition, the at least one processor is configured to determine that an acceleration of the first IMU data exceeds an acceleration threshold.
5. 5 . The device of claim 1 , wherein, to determine that the first IMU data satisfies the condition, the at least one processor is configured to determine that a covariance based on the first IMU data exceeds a covariance threshold.
6. 6 . The device of claim 1 , further comprising an IMU comprising a magnetometer, wherein the IMU bias comprises a magnetic bias of the magnetometer.
7. 7 . The device of claim 1 , further comprising an IMU comprising an accelerometer.
8. 8 . The device of claim 1 , further comprising an IMU comprising a gyroscope sensor, wherein the IMU bias comprises a gyroscopic bias of the gyroscope sensor.
9. 9 . The device of claim 1 , wherein the second pose of the apparatus is determined using the second mode based on the image data and third IMU data.
10. 10 . The device of claim 1 , wherein IMU bias is determined using a Kalman filter and a third orientation of the apparatus is determined further using the Kalman filter.
11. 11 . The device of claim 1 , wherein the at least one processor is configured to determine a processing rate for the second mode to process image data to determine poses based on an angular velocity of the apparatus.
12. 12 . The device of claim 1 , wherein the at least one processor is configured to render content based on the third pose.
13. 13 . The device of claim 1 , wherein the at least one processor is configured to determine a location of a device within an environment based on the third pose.
14. 14 . The device of claim 1 , wherein the at least one processor is configured to cause at least one transmitter to transmit the third pose to a computing device.
15. 15 . A method for determining pose information, the method comprising: determining a first pose of an apparatus using a first mode, wherein determining the first pose of the apparatus using the first mode includes processing first inertial-measurement unit (IMU) data, wherein the first pose includes a three degrees of freedom (3DOF) pose; determining that the first IMU data satisfies a condition; responsive to determining that the first IMU data satisfies the condition, determining a second pose of the apparatus using a second mode, wherein determining the second pose of the apparatus using the second mode includes processing image data, wherein the first pose includes a six degrees of freedom (6DOF) pose; determining an IMU bias based on the first pose and the second pose; and determining a third pose of the apparatus using the first mode, wherein determining the third pose of the apparatus includes processing second IMU data based on the IMU bias, and wherein the third pose includes a 3DOF pose.
16. 16 . The method of claim 15 , wherein the condition is based on a magnetic dip angle.
17. 17 . The method of claim 15 , wherein determining that the first IMU data satisfies the condition comprises determining that a magnetic dip angle of the first IMU data deviates from a reference dip angle beyond a dip-angle threshold.
18. 18 . The method of claim 15 , wherein determining that the first IMU data satisfies the condition comprises determining that an acceleration of the first IMU data exceeds an acceleration threshold.
19. 19 . The method of claim 15 , wherein determining that the first IMU data satisfies the condition comprises determining that a covariance based on the first IMU data exceeds a covariance threshold.
20. 20 . The method of claim 15 , wherein the apparatus comprises an IMU comprising a magnetometer and wherein the IMU bias comprises a magnetic bias of the magnetometer.

Description

TECHNICAL FIELD The present disclosure generally relates to determining orientation information. For example, aspects of the present disclosure include systems and techniques for determining an orientation of a device. BACKGROUND Extended reality (XR) technologies can be used to present virtual content to users, and/or can combine real environments from the physical world and virtual environments to provide users with XR experiences. The term XR can encompass virtual reality (VR), augmented reality (AR), mixed reality (MR), and the like. XR systems can allow users to experience XR environments by overlaying virtual content onto a user's view of a real-world environment. For example, an XR head-mounted device (HMD) may include a display that allows a user to view the user's real-world environment through a display of the HMD (e.g., a transparent display). The XR HMD may display virtual content at the display in the user's field of view overlaying the user's view of their real-world environment. Such an implementation may be referred to as “see-through” XR. As another example, an XR HMD may include a scene-facing camera that may capture images of the user's real-world environment. The XR HMD may modify or augment the images (e.g., adding virtual content) and display the modified images to the user. Such an implementation may be referred to as “pass through” XR or as “video see through (VST).” The user can generally change their view of the environment interactively, for example by tilting or moving the XR HMD. In order to render virtual content in an appropriate relationship to the real world as the user moves their head, an XR HMD may track an orientation and/or location of the XR HMD. For example, the XR HMD may include an inertial measurement unit that the XR HMD may use to track the orientation and/or location of the XR HMD over time. SUMMARY The following presents a simplified summary relating to one or more aspects disclosed herein. Thus, the following summary should not be considered an extensive overview relating to all contemplated aspects, nor should the following summary be considered to identify key or critical elements relating to all contemplated aspects or to delineate the scope associated with any particular aspect. Accordingly, the following summary presents certain concepts relating to one or more aspects relating to the mechanisms disclosed herein in a simplified form to precede the detailed description presented below. Systems and techniques are described for determining pose information. According to at least one example, a method is provided for determining pose information. The method includes: determining a first pose of an apparatus using a first mode, wherein determining the first pose of the apparatus using the first mode includes processing first inertial-measurement unit (IMU) data; determining that the first IMU data satisfies a condition; responsive to determining that the first IMU data satisfies the condition, determining a second pose of the apparatus using a second mode, wherein determining the second pose of the apparatus using the second mode includes processing image data; determining an IMU bias based on the first pose and the second pose; and determining a third pose of the apparatus, wherein determining the third pose of the apparatus includes processing second IMU data based on the IMU bias. In another example, an apparatus for determining pose information is provided that includes at least one memory and at least one processor (e.g., configured in circuitry) coupled to the at least one memory. The at least one processor configured to: determine a first pose of an apparatus using a first mode, wherein determining the first pose of the apparatus using the first mode includes processing first inertial-measurement unit (IMU) data; determine that the first IMU data satisfies a condition; responsive to determining that the first IMU data satisfies the condition, determine a second pose of the apparatus using a second mode, wherein determining the second pose of the apparatus using the second mode includes processing image data; determine an IMU bias based on the first pose and the second pose; and determine a third pose of the apparatus, wherein determining the third pose of the apparatus includes processing second IMU data based on the IMU bias. In another example, a non-transitory computer-readable medium is provided that has stored thereon instructions that, when executed by one or more processors, cause the one or more processors to: determine a first pose of an apparatus using a first mode, wherein determining the first pose of the apparatus using the first mode includes processing first inertial-measurement unit (IMU) data; determine that the first IMU data satisfies a condition; responsive to determining that the first IMU data satisfies the condition, determine a second pose of the apparatus using a second mode, wherein determining the second pose of the apparatus