Tracking augmented reality devices

The invention relates to tracking an augmented reality device. The augmented reality device generates updated position and orientation (pose) values by initially determining a pose estimate from a current image frame, a previous image frame, and a previous pose using image-based processing. The IMU attitude is then obtained from data generated by an inertial measurement unit including a motion sensor, and a transformation between the attitude estimate and the IMU attitude is determined. The transformation is applied to the pose estimate to generate a pose update. Media content is applied to a location within the image, the location being updated based on the pose. 本公开涉及跟踪增强现实设备。增强现实设备通过使用基于图像的处理，根据当前图像帧、先前图像帧和先前姿态最初确定姿态估计来生成更新的位置和取向(姿态)值。然后，根据由包括运动传感器的惯性测量单元生成的数据获得IMU姿态，并且确定姿态估计与IMU姿态之间的变换。将该变换应用于姿态估计以生成姿态更新。将媒体内容应用于图像内的位置，该位置基于姿态更新。