Abstract: A method including: receiving visible-light images captured using camera(s) and depth data corresponding to said images; identifying image segments of visible-light image that represent objects or their parts belonging to different material categories; detecting whether at least two adjacent image segments in visible-light image pertain to at least two different material categories related to same object category; and when it is detected that at least two adjacent image segments pertain to at least two different material categories related to same object category, identifying at least two adjacent depth segments of depth data corresponding to at least two adjacent image segments; and correcting errors in optical depths represented in at least one of at least two adjacent depth segments, based on optical depths represented in remaining of at least two adjacent depth segments.

Abstract: A method including: receiving visible-light images captured using camera(s) and depth data corresponding to said images; identifying image segments of visible-light image that represent objects or their parts belonging to different material categories; detecting whether at least two adjacent image segments in visible-light image pertain to at least two different material categories related to same object category; and when it is detected that at least two adjacent image segments pertain to at least two different material categories related to same object category, identifying at least two adjacent depth segments of depth data corresponding to at least two adjacent image segments; and correcting errors in optical depths represented in at least one of at least two adjacent depth segments, based on optical depths represented in remaining of at least two adjacent depth segments.

Abstract: A tracking system for use in head-mounted device (HMD) includes light sources arranged spatially around user-interaction controller(s); controller-pose-tracking means arranged in user-interaction controller(s); HMD-pose-tracking means; camera(s) arranged on portion of HMD that faces real-world environment in which HMD is in use; and processor(s) configured to estimate relative pose, based on controller-pose-tracking data and HMD-pose-tracking data; determine sub-set of light sources, based on estimated relative pose and arrangement of light sources; selectively control light sources such that light sources of sub-set are activated, whereas remaining light sources are deactivated; process at least one image, captured by camera(s), to identify operational state of light source(s) of sub-set that is visible in image(s), wherein image(s) is indicative of actual relative pose; and correct estimated relative pose to determine actual relative pose, based on operational state.