Magnetic interference detection and correction

A mixed-reality system causes a magnetic transmission device to transmit a magnetic field signal. The mixed-reality system also causes a magnetic-field sensing device to determine a measurement of the magnetic field signal. The mixed-reality system then identifies, using one or more input devices, that a magnetically-interfering object is located within a same environment as both the magnetic transmission device and the magnetic-field sensing device. The mixed-reality system also determines one or more characteristics of magnetic field interference that the magnetically-interfering object is imparting on the magnetic transmission device or the magnetic-field sensing device. The mixed-reality system then computes an adjustment to a pose-estimation model based upon the one or more characteristics of magnetic field interference. The pose-estimation model is used to calculate a pose of at least one of the magnetic transmission device or the magnetic-field sensing device.

BACKGROUND

Computers and computing systems have impacted nearly every aspect of modern living. Computers are generally involved in work, recreation, healthcare, transportation, entertainment, household management, etc.

Mixed-reality computer systems, including virtual-reality systems and augmented-reality systems, have recently received significant interest for their ability to create immersive experiences for users. Conventional augmented-reality systems create an augmented reality scenario by visually presenting virtual objects in the real world. In contrast, conventional virtual-reality systems create a more immersive experience such that a user's entire view is obstructed by a virtual world. As used herein, mixed-reality, augmented-reality, and virtual-reality systems are described and referenced interchangeably. In general, however, “mixed-reality” will be used to broadly describe the various technologies. Unless specifically stated or unless specifically required, as understood by one of skill in the art, the descriptions herein apply equally to any type of mixed-reality system, including augmented-reality systems, virtual-reality systems, and/or any other similar system capable of displaying virtual objects to a user.

Continued advances in hardware capabilities and rendering technologies have greatly increased the realism of virtual objects and scenes displayed to a user within a mixed-reality environment. For example, in mixed-reality environments, virtual objects can be placed within the real world in such a way as to give the impression that the virtual object is part of the real world. As a user moves around within the real world, the mixed-reality environment automatically updates so that the user is provided with the proper perspective and view of the virtual object; this mixed-reality environment is referred to as a scene.

Immersing a user into a mixed-reality environment creates many challenges and difficulties that extend beyond the mere presentation of a scenario to a user. For example, there is significant interest in the field regarding technologies that allow a user to interact with virtual objects in a mixed-reality scenario. Various systems and methods are used to provide this interactive ability to the users. In order to accurately track a user's interactions with their virtual environment, these various systems and methods often need to overcome certain interferences present in an operating environment. Technological solutions that account for this interference would advance the art.

BRIEF SUMMARY

Embodiments disclosed herein include systems, computer-readable media, and methods which cause a magnetic transmission device to transmit a magnetic field signal. Disclosed embodiments also cause a magnetic-field sensing device to determine a measurement of the magnetic field signal. Disclosed embodiments then identify, using one or more input devices, that a magnetically-interfering object is located within a same environment as both the magnetic transmission device and the magnetic-field sensing device. The disclosed embodiments also determine one or more characteristics of magnetic field interference that the magnetically-interfering object is imparting on the magnetic transmission device or the magnetic-field sensing device. The Disclosed embodiments then compute an adjustment to a pose-estimation model based upon the one or more characteristics of magnetic field interference. The pose-estimation model is used to calculate a pose of at least one of the magnetic transmission device or the magnetic-field sensing device.

DETAILED DESCRIPTION

Embodiments disclosed herein include systems, computer-readable media, and methods that detect and mitigate magnetic interference between the various magnetic sensor devices of a mixed-reality computing system. To that end, in at least one disclosed embodiment, a mixed-reality system causes a magnetic transmission device to transmit a magnetic field signal. The mixed-reality system then causes a magnetic-field sensing device to determine a measurement of that magnetic field signal. The mixed-reality system makes the determination by scanning the environment in which the magnetic-field sensing device is located. For instance, the mixed-reality system will scan the environment using vision, depth, and/or other sensors to locate and identify a foreign object that is also within the same environment. Thereafter, the mixed-reality system determines an amount of magnetic field interference the foreign object is imparting on the magnetic sensors, such as those included in on-body devices. Once this interference is determined, the mixed-reality system computes a pose of at least one of the on-body devices (e.g., a handheld device) in relation to at least one other on-body device (e.g., a head-mounted device). This pose is calculated by calibrating/correcting the measurement of the magnetic field signal to compensate for the determined amount of magnetic field interference.

As used herein, “magnetic-sensor devices” and “on-body devices” are used interchangeably. More specifically, on-body devices are used as examples of magnetic sensor devices that can be configured to perform various embodiments disclosed herein. One will appreciate that the scope of embodiments disclosed herein is not limited to particular forms or devices, but can, instead, be implemented in a variety of different embodiments that extend beyond on-body devices.

Accordingly, the embodiments described herein overcome many deficiencies prevalent throughout the conventional technology. For example, disclosed embodiments provide systems, methods, and apparatuses that mitigate noisy magnetic environments. As such, disclosed embodiments provide greater accuracy in their pose estimations than would otherwise be possible. Further, these embodiments provide for many other substantial benefits that will be described throughout the remainder of this disclosure.

Initially,FIG. 1illustrates a schematic diagram of an embodiment of a mixed-reality system100that is in communication with a magnetic transmission device160, a magnetic-field sensing device170, a network180, and a server190. One will appreciate that the various modules, components, and devices shown inFIG. 1and throughout this application are provided for the sake of example and explanation. In additional or alternate embodiments, the mixed-reality system may include a different combination of modules, components, and devices.

The depicted mixed-reality system100includes one or more processor(s)120and memory110. The one or more processor(s)120and memory110may be representative of hardware components and/or software components. The mixed-reality system100also includes a sensor I/O module130, a pose computing module140, and a network I/O module150. In at least one embodiment, the sensor I/O module130communicates with one or more input devices that provide sensor information useful for generating a mixed-reality environment. The one or more input devices may comprise pose-estimation sensors that are configured to track a pose of at least one of the magnetic transmission device or the magnetic-field sensing device. For example, the sensor I/O module130may communicate with one or more cameras, depth sensors, LIDARs, accelerometers, gyroscopes, sonars, and any other sensors useful within a mixed-reality environment. In the depicted embodiment, the sensor I/O module130is in communication with a magnetic transmission device160and a magnetic-field sensing device170.

In at least one embodiment, the magnetic transmission device160and the magnetic-field sensing device170are used to determine a relative pose of a user within the mixed-reality environment. For example, the magnetic transmission device160may be embedded within a mixed-reality headset and the magnetic field sensing device170may be embedded within a handheld controller. As the user moves the handheld controller around within the mixed-reality environment, the mixed-reality system100causes the magnetic transmission device160to transmit a known magnetic field signal. The mixed-reality system100also causes the magnetic field sensing device170, within the handheld controller, to measure variations in the magnetic field signal as the handheld controller is moved between different positions. The magnetic field sensing device170communicates these measured variations to the sensor I/O module130. The pose computing module140is then able to determine the relative measured variations.

In various additional or alternative embodiments, the mixed-reality system100also utilizes other sensor devices to track the relative pose of the user within the mixed-reality environment. For example, the mixed-reality system100may utilize a camera to track the pose of the handheld controller with respect to the mixed-reality headset. For example, whenever the handheld controller is within the field-of-view of the camera, the camera may track specific points (e.g., reflectors) that are placed on the handheld controller. Similarly, the handheld controller may comprise an inertial measurement unit (“IMU”) that is able to also provide motion and tracking data relating to the handheld controller. The mixed-reality system100is capable of choosing to rely upon a particular sensor for computing pose or to rely upon a combination of multiple sensors to compute pose.

As will be explained more fully below, in at least one embodiment, the network I/O module150communicates with the server190through a network180. The network I/O module150receives data that is associated with the particular mixed-reality environment that the user is within. For example, the mixed-reality system100may receive sensor data from sensors that are embedded within the environment itself. For instance, the mixed-reality environment may be located within a real-world room. Cameras may be attached to the walls and ceilings of the real-world room. The server190provides the mixed-reality system100with access to the cameras. The pose computing module140is then able to utilize the additional data provided by the cameras when computing pose.

In addition to receiving new sensor data from the server190, in at least one embodiment, the mixed-reality system100receives data that describes various forms of interference that may be present within the mixed-reality environment. The mixed-reality system100may also receive data that indicates, at least in part, schemes for mitigating the various forms of interference. Additionally, in at least one embodiment, the mixed-reality system100also communicates to the server new information about various forms of interference detected by the mixed-reality system100and/or schemes for mitigating the various forms of interference.

FIG. 2illustrates an embodiment of mixed-reality devices being used by a user200. The mixed-reality system100depicted inFIG. 2includes a head-mounted display (“HMD”)210positioned on a user200. In the depicted embodiment, the HMD210includes a mixed-realty system100like that described inFIG. 1. Additionally, the HMD210includes at least one sensor unit212that gathers sensor information relating to the mixed-reality environment. One of skill in the art will recognize that the depicted system can analogously be used within mixed-reality, augmented reality, virtual reality, or any other similar endeavor.

FIG. 2also depicts a handheld controller220. AlthoughFIG. 2illustrates only a single handheld controller220, embodiments of the present invention are not limited solely to those devices depicted inFIG. 2. For instance, embodiments of the present invention can be configured to simultaneously utilize many on-body devices. Even further, the on-body devices need not merely be handheld or head-mounted. For instance, embodiments of the present invention can be configured to utilize any type of on-body device (e.g., a device mounted on a user's foot, a device mounted on a user's torso, etc.). Additionally, embodiments disclosed herein can also be practiced outside of mixed-reality environments. For example, a user may control a conventional computer using systems, methods, and apparatuses disclosed herein.

The handheld controller220may include one or more IMUs. By manipulating the handheld controller220, the user200can interact with the mixed-reality environment and provide user input to the HMD210. This input can include, for example, controlling and moving virtual objects included within the mixed-reality scenario. A wide variety of user input can be provided. Accordingly,FIG. 2presents a wearable mixed-reality system100that utilizes handheld and head-mounted devices. Together, these devices (i.e. the HMD210and the handheld controller220) enable a user to precisely and rapidly control the mixed-reality computing system.

On-body devices, such as the handheld controller220depicted inFIG. 2, can use a magnetic field signal to allow measurement of the pose of the handheld controller220with respect to a sensor unit212in the HMD210. In at least one embodiment, the magnetic field signal, the HMD210, and the handheld controller220work in unison to determine how the handheld controller220is oriented/situated in relation to the HMD210(i.e. its “pose”). Determining the handheld device's pose with respect to the HMD210enhances the mixed-reality scenario that is presented to the user200.

For instance, suppose the mixed-reality computing system100presents a scenario in which a user200has a virtual object (e.g., a gun, laser, watch, etc.) attached to his/her arm. This scenario may be designed to allow the user200to use the virtual object to advance through stages of the scenario (e.g., perhaps the user is to use the gun to fight villains). As a result, the user200will move and interact with the images depicted in the scenario. The virtual object should move in unison with the user's movements. Indeed, to provide an enhanced experience, the virtual object should follow the user's specific arm movements. Accordingly, accurate pose positioning of the virtual object (which is accomplished through the communications between the HMD210and the handheld controller220) will better enable the user200to advance through the various stages of the scenario.

FIG. 3provides a high-level overview of how the mixed-reality computing system determines an on-body device's pose. For instance,FIG. 3illustrates a schematic diagram of an embodiment of mixed-reality devices communicating with each other. As depicted, the mixed-reality system100operates by having at least one of the on-body devices (e.g., the HMD210) transmit a plurality of magnetic field signals300. While the HMD210is transmitting the magnetic field signal300, a different device (e.g., the handheld controller220) will measure the received magnetic field signal. The pose of the on-body device (e.g., the handheld controller220) can then be computed using the near field fall off relationship and the measured indication from the plurality of magnetic field signals300.

FIG. 3also illustrates that a secondary communication channel310can be maintained between the two devices. The secondary communication channel310is used to communicate data between the two devices and to synchronize other communications between the various devices of the mixed-reality system100. The secondary communication channel310may be different than the channels used to transmit the magnetic field signal. For instance, the secondary communication channel310can be in the form of a BLUETOOTH™ channel or other types of wireless communication.

FIG. 4presents an alternative depiction of the devices of a mixed-reality system100. For instance,FIG. 4illustrates a schematic diagram of another embodiment of mixed-reality devices communicating with each other. In particular, a transmitter400is depicted emitting a magnetic field signal420to a receiver410. The transmitter400may be embedded within the magnetic transmission device160. The receiver410may be embedded within the magnetic-field sensing device170. In at least one additional or alternative embodiment, the magnetic transmission device160and/or the magnetic-field sensing device170comprises magnetic transceivers that are capable of both emitting and receiving magnetic field signals.

Although not shown in the figures, the HMD210(and even the other on-body devices) will include other sensors as well. To illustrate, the HMD210can include one or more cameras (e.g., color and/or black and white), depth sensors, infrared sensors, accelerometers, gyroscopes, magnetometers, etc. These other sensors can be used for a variety of reasons. By way of example and not limitation, the sensors of the mixed-reality system100can be used to detect objects in an environment in which the system is being operated. Not only can the mixed-reality system100use the sensors to detect the objects, the mixed-reality system100can also use the sensors in an attempt to identify what those objects actually are.

For instance, suppose the user200fromFIG. 2was using the mixed-reality system100in a living room. Most living rooms have a variety of objects included therein (e.g., couches, tables, lamps, etc.). Using its sensors, the mixed-reality system100detects and identifies those living room objects. Even further, the mixed-reality system100can use those objects to develop and present a mixed-reality scenario to the user200(e.g., the mixed-reality system100can show the couch as being on fire, or a villain breaking through a wall).

As suggested above, the on-body devices (e.g., the handheld controller220fromFIG. 2) can also include these sensors. As a result, the HMD210and the various on-body devices can be used to understand the environment and to create a working model of that environment. Once this model is created, the mixed-reality system100tracks the objects and uses the environment to create a better mixed-reality scenario. As indicated before, a depth sensor can be used to understand depth of objects in the environment and can facilitate in the process of identifying what those objects are. Accordingly, using its sensors, a mixed-reality system100can generate a working model of an environment and use that model to enhance any mixed-reality scenarios.

FIG. 5illustrates a user200within an embodiment of a mixed-reality environment. The mixed-reality environment includes a real-world table500. Depending on the type of material this table500is made of, the table500may introduce magnetic interference in the communication between the HMD210and the handheld controller220. For instance, ferrous and other types of conductive metals (and even some electrical systems) can interfere with the magnetic field signal measurements between the HMD210and the other on-body devices (e.g., handheld controller220). This interference may cause the mixed-reality system100to calculate an incorrect pose of the handheld device220which may then result in a skewed or otherwise incorrect mixed-reality scenario (e.g., because of the interference, the mixed-reality system100might show the virtual object on the user's arm as not being in the correct position).

FIG. 6illustrates an embodiment of a magnetically-interfering object in a mixed-reality environment. In particular,FIG. 6provides a generalized overview of how magnetically-interfering objects (e.g., the table500) can introduce interference610between a transmitter410and a receiver400. In at least one embodiment, the mixed-reality system100is capable of detecting and mitigating magnetic interference caused by magnetically-interfering objects. For example, using the above-mentioned sensors in conjunction with the magnetic transmissions, the mixed-reality computing system100can detect and optionally correct for magnetic field interference.

In at least one embodiment, the mixed-reality system100can “dual purpose,” or rather “re-purpose,” the coils of the transmitter410(e.g., the magnetic-field signal transmitter in the handheld device220or the HMD210) to passively detect that a magnetically-interfering object (e.g., table500) is located within the same environment as both the magnetic transmission device160and the magnetic-field sensing device170. For instance, the mixed-reality system100periodically causes some (or all) of the coils in a transmitter to be switched to an LC oscillator circuit (or some other equivalent type of system). When acting as an LC circuit, the circuit's resonant frequency shifts in the presence of metal (both ferrous and non-ferrous). The mixed-reality system100detects and measures this shift. Based on this shift in resonant frequency, the mixed-reality system100detects the presence of a magnetically-interfering object and compensates for that interference610.

In an additional or alternative embodiment, the mixed-reality system100detects that a magnetically-interfering object is located within the same environment as both the magnetic transmission device and the magnetic-field sensing device external magnetic interference by driving of one or more of the transmitting coils with a sine wave. After driving the coils with the sine wave, the mixed-reality computing system100will then attempt to detect any resulting eddy currents created within a magnetically-interfering object using one or more of the remaining coils.

Further, in at least one additional or alternative embodiment, the mixed-reality system100identifies that the magnetically-interfering object is located within the same environment as both the magnetic transmission device160and the magnetic-field sensing device170by using a non-magnetic-sensing sensor to identify an estimated first pose of at least one of the magnetic transmission device160or the magnetic-field sensing device170. For example, a camera sensor may estimate a first estimated pose of the magnetic-field sensing device170. The mixed-reality system100then uses a magnetic-sensing sensor to identify an estimated second pose of at least one of the magnetic-field sensing device170. Based upon the estimated first pose and the estimated second pose not being within a pre-determined threshold of each other, the mixed-reality system100identifies that the magnetically-interfering object is located within the same environment as the magnetic-field sensing device170.

In another additional or alternative embodiment, the mixed-reality system100identifies that the magnetically-interfering object is located within a same environment as both the magnetic transmission device160and the magnetic-field sensing device170by emitting from the magnetic transmission device160a first magnetic transmission at a first frequency. The magnetic-field sensing device170receives the first magnetic reading of the first magnetic transmission. The magnetic transmission device160emits a second magnetic transmission at a second frequency. The magnetic-field sensing device170receives a second magnetic reading from the second magnetic transmission. The mixed-reality system100then determines that characteristics of the first magnetic reading and characteristics of the second magnetic reading are not within a pre-determined threshold of each other. Based this determination, the mixed-reality system100identifies that the magnetically-interfering object is located within the same environment as both the magnetic transmission device160and the magnetic-field sensing device170.

As suggested previously, the mixed-reality system100is also able to leverage its vision, depth, and other sensors to generate a real-time schematic-based model of the environment. For example, cameras within the mixed-reality system100use image recognition to semantically identify an object, such as the metal table500, within the environment. Once the table is identified, the mixed-reality system100can mitigate the interference caused by the table. For instance, using standard models of interferences (e.g., commonly known interference levels associated with a metal chair or metal table), the mixed-reality system100adapts its pose estimation model to account for these estimated and detected interferences.

In at least one embodiment, the mixed-reality system100supports an “environmental awareness” aspect. For example, the mixed-reality system100detects objects in an environment while the mixed-reality computing system100is in an offline mode or in real-time. For example, a user can carry the magnetic-field sensing device170through the room. Further, the user can scan the magnetically-interfering object with the magnetic-field sensing device170. A model of the interference within the room can then be generated. This model can be used to mitigate the interference caused by magnetically-interfering object within the environment. Additionally, this model can be uploaded through the network180to the server190. Once the model is stored in the server190, future users may download the model and benefit from its information without needing to build the model from scratch.

As such, in various embodiments, the mixed-reality system100identifies, using one or more input devices, that a magnetically-interfering object (e.g., the table500) is located within the same environment as both the magnetic transmission device160and the magnetic-field sensing device170. In addition to identifying the presence of the magnetically-interfering object, the mixed-reality system100also determines one or more characteristics of magnetic field interference610that the magnetically-interfering object is imparting on the magnetic transmission device160and/or the magnetic-field sensing device170. The one or more characteristics may comprise one or more of the magnetic field signal amplitude, frequency, phase, location data related to the physical location where the measurements are taken, and other related characteristics.

In at least one embodiment, the mixed-reality system computes an adjustment to a pose-estimation model based upon the one or more characteristics of magnetic field interference. The pose-estimation model is used by the pose computing module140to calculate a pose of at least one of the magnetic transmission device160or the magnetic-field sensing device170. In at least one embodiment, adjusting the pose-estimation model comprises reducing a confidence weighting associated with values received by the magnetic-field sensing device. For example, upon identifying the presence of a magnetically-interfering object, the pose-estimation module is adjusted by reducing the confidence associated with measurements gathered from the magnetic-field sensing device170. The pose computing module140then relies more heavily upon other sensors, such as cameras, to determine the user's pose. Additionally, in at least one embodiment, the confidence weighting associated with the magnetic-field sensing device170is adjusted relative to the magnitude of the magnetic field interference610as indicated by the one or more characteristics. For example, higher magnetic field interference610causes the mixed-reality system100to lower the confidence weighting associated with the magnetic-field sensing device170.

In an additional or alternative embodiment, adjusting the pose-estimation model comprises calculating an interferer model to compensate for the one or more characteristics of the magnetic field interference610. Calculating the interferer model may comprise accessing an ideal magnetic field model that describes the magnetic communication between the magnetic transmission device150and the magnetic-field sensing device170under ideal circumstances. The interferer model is then calculated based upon an analysis of both the ideal magnetic field model and the magnetic field signals being received by the magnetic-field sensing device170. For example, the interferer model may comprise a mathematical transform that converts the magnetic field signals being received by the magnetic-field sensing device170into the ideal magnetic field model. The interferer model is then used to translate the received magnetic field signals into correct pose estimations.

One of skill in the art will understand that the use of an interferer model to adjust the pose-estimation model is provided only for the sake of example. In additional or alternative embodiments, various other means for adjusting the pose-estimation model can be used. For example, the pose-estimation model may be adjusted using a machine-learning system that overtime learns the adjustments. Similarly, the pose-estimation model can be adjusted using information retrieved from other sensors. For example, the magnetic-field sensing device170may be viewable within the field-of-view of a camera. Using pose data gathered by the camera, the mixed-reality system100can adjust the pose-estimation model to compensate for magnetic interference.

In addition to the above, in at least one embodiment, the mixed-reality system100adjusts the pose-estimation model based upon data received from the server190. For example, the mixed-reality system100receives from the server190one or more interference variables. The one or more interference variables describe information that was gathered by other devices within the same real-world location. The one or more interference variables describe at least one magnetic characteristic of the magnetically-interfering object. Using the one or more interference variables, the pose computing module140computes an adjustment to the pose-estimation model based upon both the one or more characteristics of magnetic field interference610gathered by the magnetic-field sensing device170and the one or more interference variables.

As such, in at least one embodiment, the mixed-reality system100is capable of adjusting the pose-estimation model for a particular physical location without having ever been to that particular physical location. Similarly, upon generating an interferer model or otherwise determining the one or more characteristics of the magnetic field interference610, the mixed-reality system100can upload the data to the server190. In contrast, in at least one embodiment, multiple mixed-reality systems100may be operating within the same physical location. In such a case, the different mixed-reality systems100can share data with each other as described herein to assist with magnetic interference mitigation. As such, multiple devices can leverage each other's sensors to adjust their own pose-estimation models to overcome magnetic interference.

Accordingly, by detecting and identifying interferences, the mixed-reality computing system100can calculate an accurate pose of each of the various on-body devices. This increase in accuracy will provide a more immersive experience for the user.

Now, an exemplary method of detecting, identifying, and compensating for the various interferences that may impact the mixed-reality computing system's communication will be described with respect toFIG. 7.

FIG. 7presents a method700that can be implemented by one or more processors of a computing system. When performed, this method causes the mixed-reality computing system100to detect and mitigate magnetic interference that is present in the environment. To that end, at least one of the on-body devices of the mixed-reality computing system100(e.g., a handheld controller220, other on-body devices, or even the HMD210—all are characterized as being on-body devices) is caused to transmit a magnetic field signal (act710). This magnetic field signal can be created using a transmitter coil. Notably, multiple signals can be transmitted simultaneously such that a plurality of magnetic field signals may be present.

A different device of the mixed-reality computing system100(e.g., a different handheld device (not shown), other on-body devices (also not shown), or the HMD210if it was not used to transmit the signal) will then determine a measurement of that transmitted magnetic field signal (act720). In at least one embodiment, this different device can detect each of the plurality of transmitted signals. Further, this different device will be located within a same environment as the transmitting device.

The method also includes an act730in which an object that is located within the same environment as the devices is identified. As discussed previously, this object can be detected in a variety of ways. By way of example and not limitation, the mixed-reality computing system100can use its various cameras, depth sensors, infrared sensors, and other sensors to detect and identify the foreign object. Further, the mixed-reality computing system100can utilize public information (e.g., the internet) in an attempt to identify and classify characteristics of that object (e.g., the mixed-reality computing system can ascertain common attributes, like magnetic properties, of the identified object by searching the internet).

Then, the method includes an act740in which a determination is made regarding one or more characteristics of magnetic field interference that the magnetically-interfering object is imparting on the magnetic transmission device160or the magnetic-field sensing device170. For instance, the mixed-reality computing system100can cause one of the transmitter coils of the transmitting device to repurpose itself. By so doing, the repurposed coil can then detect the presence and direction of the interference. This process can be performed on a determined periodic schedule such that the environmental model discussed previously can be kept up to date. By repurposing the coil, the transmitter can act as an LC circuit and can detect resonant frequency shifts. Notably, the receiver coils can also be repurposed to act as transmitters such that the receiver is equally able to detect and identify the magnetic interferences. Other methods of detection are also available and described above. As a result, the data collected from the sensors of the mixed-reality computing system100and the data collected from the magnetic field signal can be used to determine how much interference is present.

Once the amount of interference is determined, the method includes an act750of computing an adjustment to a pose-estimation model based upon the one or more characteristics of magnetic field interference. The pose-estimation model is used to calculate a pose of at least one of the magnetic transmission device160or the magnetic-field sensing device170. To calculate the adjustment, the mixed-reality system can utilize data from other sensors to adjust the pose-estimation model in view of the interference.

Accordingly, described herein are embodiments related to mixed-reality systems100, methods, and computer-readable media that provide for precise and rapid control of the system by compensating, calibrating, and/or adjusting a measured signal in response to unwanted interference. The systems may include various components that are configured to perform the processes outlined above. For instance, the system might include a transmitter component that coordinates the transmission of the magnetic field signal. Further, the system might include a receiver component that coordinates the receipt of the magnetic field signal. The system might also include an interference component (which calculates the amount of magnetic interference), an adjustment component (which factors in the measured interference and calibrates/adjusts the data to result in accurate pose data), and a pose determination component (which generates the resulting pose of the various on-body devices).

Computing system functionality can be enhanced by a computing systems' ability to be interconnected to other computing systems via network connections. Network connections may include, but are not limited to, connections via wired or wireless Ethernet, cellular connections, or even computer to computer connections through serial, parallel, USB, or other connections. The connections allow a computing system to access services at other computing systems and to quickly and efficiently receive application data from other computing systems.

Interconnection of computing systems has facilitated distributed computing systems, such as so-called “cloud” computing systems. In this description, “cloud computing” may be systems or resources for enabling ubiquitous, convenient, on-demand network access to a shared pool of configurable computing resources (e.g., networks, servers, storage, applications, services, etc.) that can be provisioned and released with reduced management effort or service provider interaction. A cloud model can be composed of various characteristics (e.g., on-demand self-service, broad network access, resource pooling, rapid elasticity, measured service, etc.), service models (e.g., Software as a Service (“SaaS”), Platform as a Service (“PaaS”), Infrastructure as a Service (“IaaS”), and deployment models (e.g., private cloud, community cloud, public cloud, hybrid cloud, etc.).

Cloud and remote based service applications are prevalent. Such applications are hosted on public and private remote systems such as clouds and usually offer a set of web based services for communicating back and forth with clients.

Many computers are intended to be used by direct user interaction with the computer. As such, computers have input hardware and software user interfaces to facilitate user interaction. For example, a modern general purpose computer may include a keyboard, mouse, touchpad, camera, etc. for allowing a user to input data into the computer. In addition, various software user interfaces may be available.

Examples of software user interfaces include graphical user interfaces, text command line based user interface, function key or hot key user interfaces, and the like. Disclosed embodiments may comprise or utilize a special purpose or general-purpose computer including computer hardware, as discussed in greater detail below. Disclosed embodiments also include physical and other computer-readable media for carrying or storing computer-executable instructions and/or data structures. Such computer-readable media can be any available media that can be accessed by a general purpose or special purpose computer system. Computer-readable media that store computer-executable instructions are physical storage media. Computer-readable media that carry computer-executable instructions are transmission media. Thus, by way of example, and not limitation, embodiments of the invention can comprise at least two distinctly different kinds of computer-readable media: physical computer-readable storage media and transmission computer-readable media.