A method comprising: obtaining, from an image capture device of a first head mounted display, HMD configured to output artificial reality content, first image data representative of a physical environment ; determining , by the first HMD , a first HMD pose representing a position and orientation of the first HMD ; determining , by the first HMD , from the first image data, first body position information of the users of one or more second within the physical environment ; transmitting , by the first HMD , the first HMD pose and the first body position information for use by the one or more second HMDs; receiving , by the first HMD from each second HMD of the one or more second HMDs , a second HMD pose of the respective second HMD and second body position information determined by the second HMD from second image data obtained by the second HMD, wherein the second body position information includes body position information for the user of the first HMD; integrating , by the first HMD , the first body position information with the second body position information to create first solved body position information of the user of the first HMD; and rendering , by the first HMD , for display at the first HMD, artificial reality content in accordance with the first HMD pose and the first solved body position information; wherein the method further comprises filtering out, from the second body position information, body position information received by the first HMD from a second HMD of the one or more second HMDs that is more than a threshold distance from the first HMD or that is not one of the n closest second HMDs to the first HMD, where n is a predetermined or configurable number. determining , by the first HMD , a first HMD pose representing a position and orientation of the first HMD ; determining , by the first HMD , from the first image data, first body position information of the users of one or more second within the physical environment ; transmitting , by the first HMD , the first HMD pose and the first body position information for use by the one or more second HMDs; receiving , by the first HMD from each second HMD of the one or more second HMDs , a second HMD pose of the respective second HMD and second body position information determined by the second HMD from second image data obtained by the second HMD, wherein the second body position information includes body position information for the user of the first HMD; integrating , by the first HMD , the first body position information with the second body position information to create first solved body position information of the user of the first HMD; and rendering , by the first HMD , for display at the first HMD, artificial reality content in accordance with the first HMD pose and the first solved body position information; wherein the method further comprises filtering out, from the second body position information, body position information received by the first HMD from a second HMD of the one or more second HMDs that is more than a threshold distance from the first HMD or that is not one of the n closest second HMDs to the first HMD, where n is a predetermined or configurable number. <EOS>