AR Pose Tracking Two-Stage Filtering
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Solution Overview
Problem
Virtual reality systems face challenges in maintaining an immersive experience due to tracking errors in pose measurements, which can be perceived as blurring, jitter, or drift in augmented reality environments, affecting the user's interaction with virtual and real-world objects.
Innovation Solution
An augmented reality device equipped with a plurality of sensors and a two-stage filtering system, comprising a band-agnostic filter and a band-specific filter, to reduce tracking errors across all frequency bands and specifically in selected frequency bands, ensuring accurate pose information for displaying virtual objects relative to real-world objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If pose tracking measurements are used directly in the virtual environment, then the system responds quickly to user movements, but tracking errors cause blurring, jitter, and drift that diminish the immersive experience
Solution Approach 1:
The filtering process is segmented into two distinct stages: a band-agnostic filter that processes all frequency components to reduce overall tracking error, followed by a band-specific filter that targets particular frequency bands causing specific artifacts (jitter, drift, blur). This segmentation allows the system to address different sources of error separately while maintaining responsive tracking.
Solution Approach 2:
The band-specific filter applies different filtering characteristics to different frequency bands based on their specific impact on user experience. High-frequency components affecting jitter receive different treatment than low-frequency components affecting drift, optimizing the balance between responsiveness and stability for each frequency range.
2Measurement precision
If aggressive filtering is applied to reduce tracking errors, then measurement precision improves, but computational load increases
Solution Approach 1:
The computational task is divided into two filtering stages, each with a specific purpose. The band-agnostic filter handles the bulk of error reduction with a relatively simple algorithm, while the band-specific filter applies more sophisticated processing only to targeted frequency bands, reducing overall computational burden compared to filtering all frequencies equally.
Solution Approach 2:
Instead of applying uniform aggressive filtering across all frequency bands, the system applies partial filtering - the band-specific filter only processes certain frequency bands that cause problematic artifacts. This selective approach reduces computational load while maintaining precision where it matters most for user experience.
Data Source
AI summary
An augmented reality device including a plurality of sensors configured to output pose information indicating a pose of the augmented reality device. The augmented reality device further includes a band-agnostic filter and a band-specific filter. The band-specific filter includes an error correction algorithm configured to receive pose information as filtered by the band-agnostic filter and reduce a tracking error of the pose information in a selected frequency band. The augmented reality device further includes a display engine configured to position a virtual object on a see-through display as a function of the pose information as filtered by the band-agnostic filter and the band-specific filter.