Apple Inc.
Multiple user simultaneous localization and mapping (SLAM)

Abstract:

In some implementations, a first electronic device including a first image sensor uses a processor to perform a method. The method involves obtaining a first set of keyframes based on images of a physical environment captured by the first image sensor. The method generates a mapping defining relative locations of keyframes of the first set of keyframes. The method receives a keyframe corresponding to an image of the physical environment captured at a second, different electronic device and localizes the received keyframe to the mapping. The method then receives an anchor from the second electronic device that defines a position of a virtual object relative to the keyframe. The method displays a CGR environment including the virtual object at a location based on the anchor and the mapping.