Patent ID: 11900547
Assignee: MAGIC LEAP, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 11:
12. An electronic device configured to operate within a cross reality system, the electronic device comprising:
one or more sensors configured to capture information about a three-dimensional (3D) environment, the captured information comprising a plurality of images; and
at least one processor configured to execute computer executable instructions, wherein the computer executable instructions comprise instructions for:
extracting a plurality of collections of features from the plurality of images of the 3D environment;
determining an estimated direction of gravity with respect to a coordinate frame local to the electronic device;
expressing positions of the features of the plurality of collections of features in the coordinate frame;
sending to a localization service of the cross reality system information about the plurality of collections of features, the information indicating the positions of the features of the plurality of collections of features and the estimated direction of gravity with respect to the coordinate frame; and

receiving from the localization service a pose of the electronic device with respect to a persisted map in a database of persisted maps, wherein determining the pose of the electronic device is constrained by:
fixing two rotational degrees of freedom based, at least in part, on an orientation of the respective coordinate frame with respect to the estimated direction of gravity, and
computing one rotational degree of freedom and three translational degrees of freedom based, at least in part, on the fixed two rotational degrees of freedom such that the pose of the electronic device is received in less than 6 seconds after the sending to the localization service.