I doubt it,
I think we would have heard about any royalties in Lighthouse (SteamVR Tracking) by now. Also, lighthouse would not be effective without the other end being part of the SDK, it's part of the solution. How a third party interfaces to Lighthouse could not be patented either, well, apart from design, as you would be using SteamVR Tracking SDK which carries its own copyright.
Unless you mean something else like the "Vive Tracker Pucks" ? again that's just using valves SDK to perform tracking?
I am not 100% on all that ^, it is just assumptions.