A mixed reality system motion compensation method based on relative state estimation and medium
By using a relative state estimation method, a relative motion model independent of gravity vectors is established to optimize the world pose of the interactive controller, solving the problem of head-mounted device tracking drift in local confined spaces and achieving stable and high-precision 6DoF tracking.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- PIMAX TECH (SHANGHAI) CO LTD
- Filing Date
- 2026-04-13
- Publication Date
- 2026-07-17
AI Technical Summary
In locally confined spaces, traditional SLAM algorithms struggle to establish a stable world coordinate system, leading to head-mounted devices drifting or losing track, and failing to achieve stable, continuous 6DoF tracking. Existing methods that add sensors or rely on IMUs are costly and have limited effectiveness.
A relative state estimation-based approach is adopted. By defining the relative state vector of the interactive controller relative to the head-mounted display, a relative motion propagation model independent of the gravity vector is established. Combining the IMU pre-integration factor and the visual observation factor, the relative state vector is optimized within a sliding window to synthesize the world pose of the interactive controller.
Achieve stable 6DoF tracking in environments without external visual features, suppress IMU integral drift, improve system robustness and tracking accuracy, and provide high-precision relative pose estimation.
Smart Images
Figure CN122415951A_ABST