US 12,283,011 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 Aug. 28, 2023, as Appl. No. 18/457,314.
Application 18/457,314 is a continuation of application No. 17/856,903, filed on Jul. 1, 2022, granted, now 11,790,619.
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 2024/0062491 A1, Feb. 22, 2024
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 environment maps are stored in a database, the method comprising:
determining whether to merge a first environment map and a second environment map, wherein determining whether to merge comprises:
determining whether a transformation applied to the second environment map to align it with the first environment map results in alignment with respect to a gravity direction; and
merging the first environment map and the second environment map based at least in part on alignment with respect to the gravity direction.