CPC G06T 19/006 (2013.01) [G01C 21/387 (2020.08)] | 20 Claims |
1. A method of operating a cross reality system in which one or more environment maps are stored in a database and a representation of a physical environment computed based on sensor data collected by a device worn by a user, the method comprising:
receiving a representation of a physical environment from the device, wherein the representation of the physical environment is aligned with respect to a gravity direction;
determining a transformation between the representation of the physical environment and an environment map;
determining whether to modify the representation of the physical environment with the environment map, wherein determining whether to modify comprises determining whether applying the transformation to the representation of the physical environment produces a transformed representation of the physical environment that aligns with respect to the gravity direction; and
modifying the environment map based on the representation of the physical environment based at least in part on determining that the transformed representation of the physical environment aligns with the gravity direction.
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