US 12,322,041 B2
Cross reality system with WiFi/GPS based map merge
Moshe Bouhnik, Holon (IL); Ben Weisbih, Rehovot (IL); Miguel Andres Granados Velasquez, Thalwil (CH); 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 Nov. 17, 2022, as Appl. No. 18/056,381.
Application 18/056,381 is a continuation of application No. 17/180,453, filed on Feb. 19, 2021, granted, now 11,532,124.
Claims priority of provisional application 62/979,362, filed on Feb. 20, 2020.
Prior Publication US 2023/0108794 A1, Apr. 6, 2023
Int. Cl. G06T 17/05 (2011.01); G06T 7/55 (2017.01); G06T 15/00 (2011.01); G06T 19/00 (2011.01)
CPC G06T 17/05 (2013.01) [G06T 7/55 (2017.01); G06T 15/005 (2013.01); G06T 19/006 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A portable electronic system, comprising:
a processor;
a sparse map that is constructed by a portable electronic system and stored in a non-transitory computer readable medium, wherein the sparse map further comprises data of a first data type that includes location data that represents one or more features in a physical environment;
memory storing thereupon a sequence of instructions which, when executed by the processor, causes the processor to perform a set of acts, the set of acts comprising:
receiving, at the portable electronic system, a set of one or more canonical maps, wherein a canonical map includes data of a second data type, different from the first data type, that represents at least one feature of the one or more features in the physical environment;
determining, at the portable electronic system, the sparse map based at least in part upon one or more anchors according to the physical environment;
localizing the sparse map to at least one canonical map in the set of one or more canonical maps using at least a three-dimensional (3D) point cloud data structure; and
creating a new canonical map at least by merging sparse map data of the sparse map into the at least one canonical map.