US 11,790,619 B2
Cross reality system with accurate shared maps
Miguel Andres Granados Velasquez, Thalwil (CH); Javier Victorio Gomez Gonzalez, Zurich (CH); Mukta Prasad, Uitikon Waldegg (CH); Eran Guendelman, Tel Aviv (IL); Ali Shahrokni, San Jose, CA (US); and Ashwin Swaminathan, Dublin, CA (US)
Assigned to Magic Leap, Inc., Plantation, FL (US)
Filed by Magic Leap, Inc., Plantation, FL (US)
Filed on Jul. 1, 2022, as Appl. No. 17/856,903.
Application 17/856,903 is a continuation of application No. 17/174,122, filed on Feb. 11, 2021, granted, now 11,410,395.
Claims priority of provisional application 62/975,983, filed on Feb. 13, 2020.
Prior Publication US 2022/0358733 A1, Nov. 10, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 19/00 (2011.01); G01C 21/00 (2006.01)
CPC G06T 19/006 (2013.01) [G01C 21/387 (2020.08)] 20 Claims
OG exemplary drawing
 
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.