US Patent 12067693 Late warping to minimize latency of moving objects

A method for minimizing latency of moving objects in an augmented reality (AR) display device is described. In one aspect, the method includes determining an initial pose of a visual tracking device, identifying an initial location of an object in an image that is generated by an optical sensor of the visual tracking device, the image corresponding to the initial pose of the visual tracking device, rendering virtual content based on the initial pose and the initial location of the object, retrieving an updated pose of the visual tracking device, tracking an updated location of the object in an updated image that corresponds to the updated pose, and applying a time warp transformation to the rendered virtual content based on the updated pose and the updated location of the object to generate transformed virtual content.