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

Claim 16:
17. A method of displaying rendered content comprising:
attaching a head-mountable frame to a head of a user;
executing a plurality of radar cycles, including:
transmitting a radio wave at a first and second times in a slow domain;
detecting the radio waves after the radio waves are reflected from a surface;
determining first and second time intervals in a fast domain between the transmission and the detection of the radio waves, respectively;
generating first and second radar maps of locations of real-world objects relative to the user based at least on the respective times in the fast domain; and
calculating first and second sets of radar fingerprints based on the locations of the real-world objects in the first and second radar maps, respectively;
detecting a 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 with a measurement unit secured to the frame;
determining a first and second pose estimate, 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;
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.