Patent ID: 11960661
Assignee: MAGIC LEAP, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 10:
11. The user interaction system of claim 7, wherein the location correction routine is executable to carry out a method that includes:
storing a rig frame, being a mathematical object located between eyepieces of the head unit to serve as the basis for defining where an object lies relative to the head unit;
taking a measurement to determine a rig frame pose, being the rig frame relative to the world frame;
deriving a receiver-to-world pose using known extrinsics as provided by factory-level calibration for the relationship between the EM receiver and the rig frame;
estimating an EM relationship between the EM receiver and EM transmitter to derive a transmitter-in-world pose; and
deriving a totem IMU-in-world pose as a non-fused pose using known extrinsics of the totem for the relationship between the EM transmitter and the totem IMU.