Periodic parameter estimation visual inertial tracking system

A method for calibrating a visual inertial tracking system is described. The device operates the visual inertial tracking system without receiving a tracking request from the virtual object display application. In response to operating the visual inertial tracking system, the device accesses sensor data from a sensor at the device. The device identifies a first calibration parameter value for the visual inertial tracking system based on the sensor data and stores the first calibration parameter value. A system detects a tracking request from a virtual object display application. In response to the tracking request, the system accesses a first calibration parameter value and determines a second calibration parameter value from the first calibration parameter value. 描述了用于校准视觉惯性跟踪系统的方法。设备操作视觉惯性跟踪系统而不接收来自虚拟对象显示应用的跟踪请求。响应于操作视觉惯性跟踪系统，设备访问来自设备处的传感器的传感器数据。设备基于传感器数据来识别视觉惯性跟踪系统的第一校准参数值，并且存储第一校准参数值。系统检测来自虚拟对象显示应用的跟踪请求。响应于跟踪请求，系统访问第一校准参数值并且根据第一校准参数值确定第二校准参数值。