Abstract: Determining a relative location of an object in an environment of a head-mountable device by performing a Wi-Fi round trip time (RTT) process to determine a location of the head-mountable device based on respective round-trip times for a plurality of access points or peer devices, using data generated by an inertial measurement unit as a basis for determining a pose of the head-mountable device, determining a location of a first object in an environment of the head-mountable device, and based at least in part on the location and pose of the head mountable device and the location of the first object, determining a relative location of the first object.

Abstract: Systems and devices are disclosed herein that provide or relate to modular accessory devices for a wearable device, such as a glasses-style head-mountable device (HMD). Illustrative systems may include a first frame component having an accessory slot accessible via an entry point on a transverse surface of the first frame component, a second frame component movably coupled to the first frame component, and one or more accessory devices that each have a slot-mating feature shaped for insertion into and removal from the accessory slot via the entry point. The second frame component may be movable between a first position in which the second frame component blocks access to the entry point, and a second position in which the second frame component allows access to the entry point.