Abstract: One disclosed example provides a method for determining a pose of a handheld object in a surrounding environment. Optical pose data is stored in an image queue of a first filter. IMU data is received from an IMU of the handheld object and stored in an IMU queue of the first filter. Using at least a portion of the optical pose data and the IMU data, an initial pose of the handheld object is determined and outputted. The method determines that either the image queue or the IMU queue is empty. A second filter comprising the one empty queue and the other non-empty queue is instantiated as a copy of the first filter. Using the data from the non-empty queue in the second filter, the initial pose of the handheld object is updated to an updated pose, and the updated pose is outputted.

Abstract: One disclosed example provides a head-mounted device including a stereo camera arrangement, a logic device configured to execute instructions, and a storage device storing instructions executable by the logic device to, for each camera in the stereo camera arrangement, receive image data of a field of view of the camera, detect light sources of a handheld object in the image data, and based upon the light sources detected, determine a pose of the handheld object. The instructions are executable to, based upon the pose of the handheld object determined for each camera in the stereo camera arrangement, calibrate the stereo camera arrangement.

Abstract: One disclosed example provides a method for determining a pose of a handheld object in a surrounding environment. Optical pose data is stored in an image queue of a first filter. IMU data is received from an IMU of the handheld object and stored in an IMU queue of the first filter. Using at least a portion of the optical pose data and the IMU data, an initial pose of the handheld object is determined and outputted. The method determines that either the image queue or the IMU queue is empty. A second filter comprising the one empty queue and the other non-empty queue is instantiated as a copy of the first filter. Using the data from the non-empty queue in the second filter, the initial pose of the handheld object is updated to an updated pose, and the updated pose is outputted.

Abstract: One disclosed example provides a head-mounted device including a stereo camera arrangement, a logic device configured to execute instructions, and a storage device storing instructions executable by the logic device to, for each camera in the stereo camera arrangement, receive image data of a field of view of the camera, detect light sources of a handheld object in the image data, and based upon the light sources detected, determine a pose of the handheld object. The instructions are executable to, based upon the pose of the handheld object determined for each camera in the stereo camera arrangement, calibrate the stereo camera arrangement.