Patent ID: 11885871
Assignee: MAGIC LEAP, INC.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 17:
18. A method of displaying rendered content comprising:
attaching a head-mountable frame to a head of a user;
executing a first radar cycle, including:
transmitting a first radio wave;
detecting the first radio wave after the first radio wave is reflected from a surface;
determining a first time between the transmission and the detection of the first radio wave;
generating a first radar map of locations of real-world objects relative to the user based at least on the first time between the transmission and the detection of the first radio wave; and
calculating a first set of radar fingerprints based on the locations of the real-world objects in the first radar map;
detecting a first measurement value indicative of at least one of position and movement with a measurement unit secured to the frame;
determining a first pose estimate of the first set of radar fingerprints relative to the first measurement value;
executing a second radar cycle, including:
transmitting a second radio wave;
detecting the second radio wave after the second radio wave is reflected from the surface;
determining a second time between the transmission and the detection of the second radio wave;
generating a second radar map of locations of real-world objects relative to the user based at least on the second time between the transmission and the detection of the second radio wave; and
calculating a second set of radar fingerprints based on the locations of the real-world objects in the second radar map;
detecting a second measurement value indicative of a position and movement with the measurement unit secured to the frame;
determining a second pose estimate of the second set of radar fingerprints relative to the second measurement value;
determining drift of the measurement unit by comparing the first pose estimate with the second pose estimate;
adjusting a measurement unit filter that is connected to the measurement unit to correct for the drift;
determining a desired position of a rendered object based on the second pose estimate;
converting data into light to generate the rendered object; and
displaying the rendered object in the desired position to the user through an eyepiece secured to the head-mountable frame.