Cross reality system for large scale environment reconstruction

An extended reality or cross reality (XR) system for rendering virtual content, comprising:

• the first portable device that enters a first location in a three-dimensional (3D) physical environment and comprises a first sparse map and a first network component that connects the portable device to a remote computing system for accessing sharable world data of the 3D physical environment that includes a physical object, wherein
• the remote computing system determines the sharable world data using at least feature data collected by a plurality of electronic devices for the sharable world data,
• the plurality electronic devices include a plurality of portable devices having respective sparse maps installed thereupon,
• the plurality of portable devices comprise a second portable device that enters a second location in the 3D physical environment and comprising a second sparse map and a second network component that connects the second portable device to the remote computing system for accessing the sharable world data,
• the first portable device performing content persistence for a virtual content relative to the physical object at least by using a merged map, and
• the merged map is determined at least by merging a version of the second sparse map and a version of the first sparse map based at least in part upon one or more persistence coordinate frames (PCFs).

A computer program product comprising a non-transitory computer readable storage medium having stored thereupon a sequence of instructions which, when executed by a microprocessor, causes the microprocessor to perform a set of acts that comprises:

• Identifying, for a first portable device at a first location in a three-dimensional (3D) physical environment, a first sparse map, the first portable device connected to a remote computing system for accessing sharable world data of the 3D physical environment that comprises a physical object, wherein
• the plurality electronic devices include the plurality of portable devices having respective sparse maps installed thereupon;
• Identifying, for a second portable device at a second location in the 3D physical environment, a second sparse map, the second portable device connected to the remote computing system for accessing the sharable world data;
• and
• performing, by the second portable device, content persistence for a virtual content relative to the physical object at least by using a merged map, wherein the merged map is determined at least by merging a version of the first sparse map and a version of the second sparse map based at least in part upon one or more persistence coordinate frames (PCFs).