Abstract: Methods and apparatus for providing a representation of an environment, for example, in an XR system, and any suitable computer vision and robotics applications. A representation of an environment may include one or more planar features. The representation of the environment may be provided by jointly optimizing plane parameters of the planar features and sensor poses that the planar features are observed at. The joint optimization may be based on a reduced matrix and a reduced residual vector in lieu of the Jacobian matrix and the original residual vector.

Abstract: A method of efficiently and accurately computing a pose of an image with respect to other image information. The image may be acquired with a camera on a portable device and the other information may be a map, such that the computation of pose localizes the device relative to the map. Such a technique may be applied in a cross reality system to enable devices to efficiently and accurately access previously persisted maps. Localizing with respect to a map may enable multiple cross reality devices to render virtual content at locations specified in relation to those maps, providing an enhanced experience for uses of the system. The method may be used in other devices and for other purposes, such as for navigation of autonomous vehicles.

Abstract: Methods and apparatus for providing a representation of an environment, for example, in an XR system, and any suitable computer vision and robotics applications. A representation of an environment may include one or more planar features. The representation of the environment may be provided by jointly optimizing plane parameters of the planar features and sensor poses that the planar features are observed at. The joint optimization may be based on a reduced matrix and a reduced residual vector in lieu of the Jacobian matrix and the original residual vector.

Abstract: A method of efficiently and accurately computing a pose of an image with respect to other image information. The image may be acquired with a camera on a portable device and the other information may be a map, such that the computation of pose localizes the device relative to the map. Such a technique may be applied in a cross reality system to enable devices to efficiently and accurately access previously persisted maps. Localizing with respect to a map may enable multiple cross reality devices to render virtual content at locations specified in relation to those maps, providing an enhanced experience for uses of the system. The method may be used in other devices and for other purposes, such as for navigation of autonomous vehicles.

Abstract: A method of efficiently and accurately computing a pose of an image with respect to other image information. The image may be acquired with a camera on a portable device and the other information may be a map, such that the computation of pose localizes the device relative to the map. Such a technique may be applied in a cross reality system to enable devices to efficiently and accurately access previously persisted maps. Localizing with respect to a map may enable multiple cross reality devices to render virtual content at locations specified in relation to those maps, providing an enhanced experience for uses of the system. The method may be used in other devices and for other purposes, such as for navigation of autonomous vehicles.

Abstract: Methods and apparatus for providing a representation of an environment, for example, in an XR system, and any suitable computer vision and robotics applications. A representation of an environment may include one or more planar features. The representation of the environment may be provided by jointly optimizing plane parameters of the planar features and sensor poses that the planar features are observed at. The joint optimization may be based on a reduced matrix and a reduced residual vector in lieu of the Jacobian matrix and the original residual vector.

Abstract: A method of efficiently and accurately computing a pose of an image with respect to other image information. The image may be acquired with a camera on a portable device and the other information may be a map, such that the computation of pose localizes the device relative to the map. Such a technique may be applied in a cross reality system to enable devices to efficiently and accurately access previously persisted maps. Localizing with respect to a map may enable multiple cross reality devices to render virtual content at locations specified in relation to those maps, providing an enhanced experience for uses of the system. The method may be used in other devices and for other purposes, such as for navigation of autonomous vehicles.