3-D reconstruction using augmented reality frameworks

A computer system for 3-D reconstruction of a building structure, comprising:

• one or more processors, including a general purpose processor and a graphics processing unit (GPU);
• a display;
• and
• memory;
• wherein the memory stores one or more programs configured for execution by the one or more processors, and the one or more programs comprising instructions for:
• obtaining world map data including a first track of real-world poses for a plurality of images, wherein the plurality of images comprises non-camera anchors;
• detecting a discrepancy in at least one real-world pose of the first track;
• in response to detecting a discrepancy, generating a new track of real-world poses;
• and
• calculating a scaling factor for a 3-D representation of the building structure based on sampling across a plurality of tracks, wherein the plurality of tracks comprises at least the first track and the new track.

A non-transitory computer readable storage medium storing one or more programs configured for execution by a computer system having a display, one or more processors including a general purpose processor and a graphical processing unit (GPU), the one or more programs comprising instructions for:

• obtaining world map data including a first track of real-world poses for a plurality of images, wherein the plurality of images comprises non-camera anchors;
• detecting a discrepancy in at least one real-world pose of the first track;
• in response to detecting a discrepancy, generating a new track of real-world poses;
• and
• calculating a scaling factor for a 3-D representation of the building structure based on sampling across a plurality of tracks, wherein the plurality of tracks comprises at least the first track and the new track.