DOPAMINE: Doppler frequency and Angle of arrival MINimization of tracking Error for extended reality

TL;DR

This paper explores how joint communication and sensing (JCAS) techniques, specifically Doppler frequency and AoA estimation, can enhance the long-term accuracy of XR HMD tracking during optical/IR tracking failures.

Contribution

It introduces a novel model integrating Doppler and AoA estimations to improve IMU-based tracking robustness in XR headsets during tracking disruptions.

Findings

JCAS methods reduce the number of integration steps needed for tracking.

Doppler and AoA estimations improve long-term tracking stability.

Long-lasting tracking errors can be mitigated with the proposed approach.

Abstract

In this paper, we investigate how Joint Communication And Sensing (JCAS) can be used to improve the Inertial Measurement Unit (IMU)- based tracking accuracy of eXtended Reality (XR) Head-Mounted Displays (HMDs). Such tracking is used when optical and InfraRed (IR) tracking is lost, and its lack of accuracy can lead to disruption of the user experience. In particular, we analyze the impact of using doppler-based speed estimation to aid the accelerometer-based position estimation, and Angle of Arrival (AoA) estimation to aid the gyroscope-based orientation estimation. Although less accurate than IMUs for short times in fact, the JCAS based methods require one fewer integration step, making the tracking more sustainable over time. Based on the proposed model, we conclude that at least in the case of the position estimate, introducing JCAS can make long lasting optical/IR tracking losses more sustainable.