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

Claim 19:
20. An augmented reality device comprising:
a head-mountable frame;
a radar system that generates first and second sets of radar fingerprints of locations of real-world objects relative to the user at first and second times in the slow domain;
a measurement unit, secured to the frame, and detecting first and second measurement values at the first and second times in the slow domain, each measurement value being indicative of at least one of position and movement of the measurement unit;
a measurement unit filter connected to the measurement unit;
a processor;
a computer-readable medium connected to the processor;
a set of instructions on the computer-readable medium and executable by the processor to (i) determine first and second pose estimates, the first pose estimate being based on the first set of radar fingerprints relative to the first measurement value and the second pose estimate being based on the second set of radar fingerprints relative to the second measurement value, (ii) determine a drift of the measurement unit by comparing the first pose estimate with the second pose estimate, and (iii) adjust the measurement unit filter to correct for the drift; and (iv) determine a desired position of a rendered object based on the second pose;
an eyepiece secured to the frame; and
a projector secured to the frame and operable to convert data into light to generate the rendered object and displaying the rendered object in the desired position to the user through the eyepiece.