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

Claim 13:
14. A system comprising:
a sensor of a wearable head device;
a first inertial measurement unit (IMU) of the wearable head device;
a second IMU of wearable head device;
a display of the wearable head device; and
one or more processors configured to perform a method comprising:
receiving, via the sensor, first image data and second image data;
receiving, via the first IMU, first inertial data and third inertial data;
receiving, via the second IMU, 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, on the display, virtual content based on the estimated position of the wearable head device.