Patent ID: 11935180
Assignee: MAGIC LEAP, INC.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A method comprising:
receiving, via a sensor of a wearable head device, first image data and second image data;
receiving, via a first inertial measurement unit (IMU) of the wearable head device, first inertial data and third inertial data;
receiving, via a second IMU of the wearable head device, second inertial data and fourth inertial data;
calculating a first preintegration term based on the first image data and based further on one or more of the first inertial data and the second inertial data;
calculating a second preintegration term based on the second image data and based further on one or more of the third inertial data and the fourth inertial data;
estimating a position of the wearable head device based on a combination of the first preintegration term and the second preintegration term; and
presenting virtual content, via a display of the wearable head device, based on the estimated position of the wearable head device.