Wearable Device Controller 6DoF Tracking via Point Cloud Synchronization
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Solution Overview
Problem
Existing systems face challenges in accurately tracking the six degree of freedom (6DoF) movement of controllers in three-dimensional space, particularly in virtual reality (VR) and augmented reality (AR) applications, due to high latency and limited scope.
Innovation Solution
A method and system where a wearable device receives geometric information from a controller, including a point cloud and a key frame, and synchronizes its coordinate system with the controller's coordinate system using this information. The wearable device then renders content based on the 6DoF pose information of the controller.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the wearable device uses traditional tracking methods to monitor controller movement, then the system structure remains simple, but the tracking precision and field of view are limited
Solution Approach 1:
The system divides tracking functionality into two segments: the controller performs local 6DoF tracking using its own sensors and processor, while the wearable device performs global position tracking. This segmentation allows each device to operate within its capabilities, with the controller handling precise local movements and the wearable device providing broader spatial context, thereby improving overall tracking precision without requiring the wearable device to be overly complex
Solution Approach 2:
The controller acts as an intermediary device that bridges the gap between the wearable device's limited field of view and the need for comprehensive 6DoF tracking. By equipping the controller with independent tracking capabilities and having it communicate pose information back to the wearable device, the system achieves extended tracking scope and precision without significantly increasing the complexity of the wearable device itself
2Loss of time
If the wearable device processes all tracking data centrally, then the system architecture remains simple, but the latency increases
Solution Approach 1:
The controller performs preliminary 6DoF pose estimation using its onboard sensors and processor before transmitting data to the wearable device. This preliminary processing reduces the amount of raw data that needs to be transmitted and processed centrally, thereby reducing transmission time and computational latency while distributing processing complexity to where it is most needed - at the controller edge
Solution Approach 2:
The system dynamically adjusts the distribution of processing tasks between the controller and wearable device based on operational needs. The controller handles real-time 6DoF calculations that require minimal latency, while the wearable device handles higher-level rendering and coordination tasks. This dynamic task distribution optimizes overall system responsiveness and reduces critical path latency
3Adaptability or versatility
If the wearable device relies on its own field of view for tracking, then the system design remains simple, but the scope of movement tracking is limited
Solution Approach 1:
The controller is designed with multi-functionality, serving both as a user input device and as an independent tracking sensor. Its cameras and processors are used not only for controller localization but also for tracking hand movements and environmental features, thereby extending the wearable device's effective field of view and movement tracking scope without adding dedicated tracking hardware to the wearable device itself
Data Source
AI summary
A method by a wearable device is described. The method includes receiving geometric information from a controller. The geometric information includes a point cloud and a key frame of the controller. The method also includes receiving first six degree of freedom (6DoF) pose information from the controller. The method further includes synchronizing a coordinate system of the wearable device with a coordinate system of the controller based on the point cloud and the key frame of the controller. The method additionally includes rendering content in an application based on the first 6DoF pose information.