US 12,299,918 B2
Methods and systems to facilitate passive relocalization using three-dimensional maps
Armin Alaghi, Kirkland, WA (US); Muzaffer Kal, Redmond, WA (US); Vincent Lee, Seattle, WA (US); and Richard Andrew Newcombe, Seattle, WA (US)
Assigned to Meta Platforms Technologies, LLC, Menlo Park, CA (US)
Filed by Meta Platforms Technologies, LLC, Menlo Park, CA (US)
Filed on Jan. 26, 2022, as Appl. No. 17/585,439.
Prior Publication US 2023/0237692 A1, Jul. 27, 2023
Int. Cl. G06T 7/13 (2017.01); G06T 7/73 (2017.01); H04W 4/06 (2009.01)
CPC G06T 7/73 (2017.01) [H04W 4/06 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
accessing map data of an area of a real environment, the map data comprising three-dimensional feature descriptors describing features visible in the real environment;
generating, based on the map data, a plurality of map packages, wherein each of the map packages (1) corresponds to a two-dimensional sub-area within the area of the real environment, and (2) comprises a subset of the three-dimensional feature descriptors describing features visible in the sub-area; and
sequentially broadcasting the plurality of map packages in a first predetermined sequence through one or more base stations, wherein a plurality of artificial-reality devices located in a two-dimensional sub-area are each configured to: receive, over a one-way communication channel, at least one of the plurality of map packages via at least one of the sequential broadcasts, and determine a pose of the artificial-reality device based on at least a portion of the three-dimensional feature descriptors included in the received at least one map package.