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

Claim 11:
12. The method of claim 1, further comprising determining, via a second sensor of the wearable head device, one or more of a light level and a texture level associated with a mixed reality environment, wherein:
the position of the wearable head device comprises a position of the wearable head device with respect to the mixed reality environment, and
one or more of said receiving the second inertial data, said calculating the first preintegration term, said estimating the position of the wearable head device based on the first preintegration term, and said presenting virtual content based on the position of the wearable head device are performed in accordance with a determination that the one or more of the light level and the texture level are below a threshold level.