diff --git a/media/libheadtracking/PoseBias-test.cpp b/media/libheadtracking/PoseBias-test.cpp
new file mode 100644
index 0000000..9f42a2c
--- /dev/null
+++ b/media/libheadtracking/PoseBias-test.cpp
@@ -0,0 +1,52 @@
+/*
+ * Copyright (C) 2022 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <gtest/gtest.h>
+
+#include "PoseBias.h"
+#include "QuaternionUtil.h"
+#include "TestUtil.h"
+
+namespace android {
+namespace media {
+namespace {
+
+using Eigen::Quaternionf;
+using Eigen::Vector3f;
+
+TEST(PoseBias, Initial) {
+    PoseBias bias;
+    EXPECT_EQ(bias.getOutput(), Pose3f());
+}
+
+TEST(PoseBias, Basic) {
+    Pose3f pose1({1, 2, 3}, Quaternionf::UnitRandom());
+    Pose3f pose2({4, 5, 6}, Quaternionf::UnitRandom());
+
+    PoseBias bias;
+    bias.setInput(pose1);
+    EXPECT_EQ(pose1, bias.getOutput());
+    bias.recenter();
+    EXPECT_EQ(bias.getOutput(), Pose3f());
+    bias.setInput(pose2);
+    EXPECT_EQ(bias.getOutput(), pose1.inverse() * pose2);
+    bias.recenter();
+    EXPECT_EQ(bias.getOutput(), Pose3f());
+}
+
+}  // namespace
+}  // namespace media
+}  // namespace android