diff --git a/media/libheadtracking/Android.bp b/media/libheadtracking/Android.bp
index b0563e2..1d41889 100644
--- a/media/libheadtracking/Android.bp
+++ b/media/libheadtracking/Android.bp
@@ -14,6 +14,7 @@
       "HeadTrackingProcessor.cpp",
       "ModeSelector.cpp",
       "Pose.cpp",
+      "PoseBias.cpp",
       "PoseDriftCompensator.cpp",
       "PoseRateLimiter.cpp",
       "QuaternionUtil.cpp",
@@ -67,6 +68,7 @@
         "HeadTrackingProcessor-test.cpp",
         "ModeSelector-test.cpp",
         "Pose-test.cpp",
+        "PoseBias-test.cpp",
         "PoseDriftCompensator-test.cpp",
         "PoseRateLimiter-test.cpp",
         "QuaternionUtil-test.cpp",
diff --git a/media/libheadtracking/HeadTrackingProcessor.cpp b/media/libheadtracking/HeadTrackingProcessor.cpp
index f2f15df..71fae8a 100644
--- a/media/libheadtracking/HeadTrackingProcessor.cpp
+++ b/media/libheadtracking/HeadTrackingProcessor.cpp
@@ -17,7 +17,7 @@
 #include "media/HeadTrackingProcessor.h"
 
 #include "ModeSelector.h"
-#include "PoseDriftCompensator.h"
+#include "PoseBias.h"
 #include "QuaternionUtil.h"
 #include "ScreenHeadFusion.h"
 #include "StillnessDetector.h"
@@ -33,14 +33,6 @@
   public:
     HeadTrackingProcessorImpl(const Options& options, HeadTrackingMode initialMode)
         : mOptions(options),
-          mHeadPoseDriftCompensator(PoseDriftCompensator::Options{
-                  .translationalDriftTimeConstant = options.translationalDriftTimeConstant,
-                  .rotationalDriftTimeConstant = options.rotationalDriftTimeConstant,
-          }),
-          mScreenPoseDriftCompensator(PoseDriftCompensator::Options{
-                  .translationalDriftTimeConstant = options.translationalDriftTimeConstant,
-                  .rotationalDriftTimeConstant = options.rotationalDriftTimeConstant,
-          }),
           mHeadStillnessDetector(StillnessDetector::Options{
                   .defaultValue = false,
                   .windowDuration = options.autoRecenterWindowDuration,
@@ -65,7 +57,7 @@
                             const Twist3f& headTwist) override {
         Pose3f predictedWorldToHead =
                 worldToHead * integrate(headTwist, mOptions.predictionDuration);
-        mHeadPoseDriftCompensator.setInput(timestamp, predictedWorldToHead);
+        mHeadPoseBias.setInput(predictedWorldToHead);
         mHeadStillnessDetector.setInput(timestamp, predictedWorldToHead);
         mWorldToHeadTimestamp = timestamp;
     }
@@ -78,7 +70,7 @@
         }
 
         Pose3f worldToLogicalScreen = worldToScreen * Pose3f(rotateY(-mPhysicalToLogicalAngle));
-        mScreenPoseDriftCompensator.setInput(timestamp, worldToLogicalScreen);
+        mScreenPoseBias.setInput(worldToLogicalScreen);
         mScreenStillnessDetector.setInput(timestamp, worldToLogicalScreen);
         mWorldToScreenTimestamp = timestamp;
     }
@@ -94,7 +86,7 @@
     void calculate(int64_t timestamp) override {
         // Handle the screen first, since it might trigger a recentering of the head.
         if (mWorldToScreenTimestamp.has_value()) {
-            const Pose3f worldToLogicalScreen = mScreenPoseDriftCompensator.getOutput();
+            const Pose3f worldToLogicalScreen = mScreenPoseBias.getOutput();
             bool screenStable = mScreenStillnessDetector.calculate(timestamp);
             mModeSelector.setScreenStable(mWorldToScreenTimestamp.value(), screenStable);
             // Whenever the screen is unstable, recenter the head pose.
@@ -107,11 +99,11 @@
 
         // Handle head.
         if (mWorldToHeadTimestamp.has_value()) {
-            Pose3f worldToHead = mHeadPoseDriftCompensator.getOutput();
+            Pose3f worldToHead = mHeadPoseBias.getOutput();
             // Auto-recenter.
             if (mHeadStillnessDetector.calculate(timestamp)) {
                 recenter(true, false);
-                worldToHead = mHeadPoseDriftCompensator.getOutput();
+                worldToHead = mHeadPoseBias.getOutput();
             }
 
             mScreenHeadFusion.setWorldToHeadPose(mWorldToHeadTimestamp.value(), worldToHead);
@@ -142,11 +134,11 @@
 
     void recenter(bool recenterHead, bool recenterScreen) override {
         if (recenterHead) {
-            mHeadPoseDriftCompensator.recenter();
+            mHeadPoseBias.recenter();
             mHeadStillnessDetector.reset();
         }
         if (recenterScreen) {
-            mScreenPoseDriftCompensator.recenter();
+            mScreenPoseBias.recenter();
             mScreenStillnessDetector.reset();
         }
 
@@ -169,8 +161,8 @@
     std::optional<int64_t> mWorldToHeadTimestamp;
     std::optional<int64_t> mWorldToScreenTimestamp;
     Pose3f mHeadToStagePose;
-    PoseDriftCompensator mHeadPoseDriftCompensator;
-    PoseDriftCompensator mScreenPoseDriftCompensator;
+    PoseBias mHeadPoseBias;
+    PoseBias mScreenPoseBias;
     StillnessDetector mHeadStillnessDetector;
     StillnessDetector mScreenStillnessDetector;
     ScreenHeadFusion mScreenHeadFusion;
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
diff --git a/media/libheadtracking/PoseBias.cpp b/media/libheadtracking/PoseBias.cpp
new file mode 100644
index 0000000..33afca6
--- /dev/null
+++ b/media/libheadtracking/PoseBias.cpp
@@ -0,0 +1,35 @@
+/*
+ * 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 "PoseBias.h"
+
+namespace android {
+namespace media {
+
+void PoseBias::setInput(const Pose3f& input) {
+    mLastWorldToInput = input;
+}
+
+void PoseBias::recenter() {
+    mBiasToWorld = mLastWorldToInput.inverse();
+}
+
+Pose3f PoseBias::getOutput() const {
+    return mBiasToWorld * mLastWorldToInput;
+}
+
+}  // namespace media
+}  // namespace android
diff --git a/media/libheadtracking/PoseBias.h b/media/libheadtracking/PoseBias.h
new file mode 100644
index 0000000..9acb49d
--- /dev/null
+++ b/media/libheadtracking/PoseBias.h
@@ -0,0 +1,60 @@
+/*
+ * 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.
+ */
+#pragma once
+
+#include "media/Pose.h"
+
+namespace android {
+namespace media {
+
+/**
+ * Biasing for a stream of poses.
+ *
+ * This filter takes a stream of poses and at any time during the stream, can change the frame of
+ * reference for the stream to be that of the last pose received, via the recenter() operation.
+ *
+ * Typical usage:
+ * PoseBias bias;
+ *
+ * bias.setInput(...);
+ * output = bias.getOutput();
+ * bias.setInput(...);
+ * output = bias.getOutput();
+ * bias.setInput(...);
+ * output = bias.getOutput();
+ * bias.recenter();  // Reference frame is now equal to the last input.
+ * output = bias.getOutput();  // This is now the identity pose.
+ *
+ * There doesn't need to be a 1:1 correspondence between setInput() and getOutput() calls.
+ * The initial bias point is identity.
+ *
+ * This implementation is thread-compatible, but not thread-safe.
+ */
+class PoseBias {
+  public:
+    void setInput(const Pose3f& input);
+
+    void recenter();
+
+    Pose3f getOutput() const;
+
+  private:
+    Pose3f mLastWorldToInput;
+    Pose3f mBiasToWorld;
+};
+
+}  // namespace media
+}  // namespace android
diff --git a/media/libheadtracking/PoseProcessingGraph.png b/media/libheadtracking/PoseProcessingGraph.png
index 2b4ea68..325b667 100644
--- a/media/libheadtracking/PoseProcessingGraph.png
+++ b/media/libheadtracking/PoseProcessingGraph.png
Binary files differ
diff --git a/media/libheadtracking/README.md b/media/libheadtracking/README.md
index 5ec157b..44f7bb2 100644
--- a/media/libheadtracking/README.md
+++ b/media/libheadtracking/README.md
@@ -115,11 +115,9 @@
 #### World
 
 It is sometimes convenient to use an intermediate frame when dealing with
-head-to-screen transforms. The “world” frame is an arbitrary frame of reference
-in the physical world, relative to which we can measure the head pose and screen
-pose. In (very common) cases when we can’t establish such an absolute frame, we
-can take each measurement relative to a separate, arbitrary frame and high-pass
-the result.
+head-to-screen transforms. The “world” frame is a frame of reference in the
+physical world, relative to which we can measure the head pose and screen pose.
+It is arbitrary, but expected to be stable (fixed).
 
 ## Processing Description
 
@@ -133,15 +131,10 @@
 The Predictor block gets pose + twist (pose derivative) and extrapolates to
 obtain a predicted head pose (w/ given latency).
 
-### Drift / Bias Compensator
+### Bias
 
-The Drift / Bias Compensator blocks serve two purposes:
-
-- Compensate for floating reference axes by applying a high-pass filter, which
-  slowly pulls the pose toward identity.
-- Establish the reference frame for the poses by having the ability to set the
-  current pose as the reference for future poses (recentering). Effectively,
-  this is resetting the filter state to identity.
+The Bias blocks establish the reference frame for the poses by having the
+ability to set the current pose as the reference for future poses (recentering).
 
 ### Orientation Compensation
 
@@ -157,7 +150,7 @@
 module may indicate that the user is likely not in front of the screen via the
 “valid” output.
 
-## Stillness Detector
+### Stillness Detector
 
 The stillness detector blocks detect when their incoming pose stream has been
 stable for a given amount of time (allowing for a configurable amount of error).
diff --git a/media/libheadtracking/include/media/HeadTrackingProcessor.h b/media/libheadtracking/include/media/HeadTrackingProcessor.h
index 2af560e..1744be3 100644
--- a/media/libheadtracking/include/media/HeadTrackingProcessor.h
+++ b/media/libheadtracking/include/media/HeadTrackingProcessor.h
@@ -38,8 +38,6 @@
     struct Options {
         float maxTranslationalVelocity = std::numeric_limits<float>::infinity();
         float maxRotationalVelocity = std::numeric_limits<float>::infinity();
-        float translationalDriftTimeConstant = std::numeric_limits<float>::infinity();
-        float rotationalDriftTimeConstant = std::numeric_limits<float>::infinity();
         int64_t freshnessTimeout = std::numeric_limits<int64_t>::max();
         float predictionDuration = 0;
         int64_t autoRecenterWindowDuration = std::numeric_limits<int64_t>::max();