US Patent 9832452 Robust user detection and tracking

Systems and approaches are provided for robustly detecting and tracking a user. Image data can be captured and processed to provide an estimated position and/or orientation of the user. Other sensor data, such as from an accelerometer and/or gyroscope, can be determined for a more robust estimation of the user's position and/or orientation. Multiple user detection processes and/or motion estimation approaches and their corresponding confidence levels can also be combined to determine a final estimated position and orientation of the user. The multiple user pose estimations and/or motion estimations can be combined via an approach such as probabilistic system modeling and maximum likelihood estimation.