Displaying virtual content in augmented reality using a map of the world

A method for displaying virtual objects in augmented reality (AR), comprising:

• capturing, by at least one AR device in a plurality of locations, geometric data points pertaining to the plurality of locations;
• constructing a single coherent passable geometric map of the real world comprising the captured first and second sets of geometric data points;
• overlaying a topographical map onto the single coherent passable geometric map of the real world, the topological map comprising a histogram or a hash of physical features of a plurality of physical spaces associated with the plurality of locations;
• storing the single larger coherent passable geometric map of the real world with the topographical graph in a database;
• capturing, by another AR device, data pertaining to a physical space at a location of a user of the other AR device;
• generating a histogram or a hash of physical features in the physical space at the location of the user;
• localizing the user within the single larger coherent passable geometric map of the real world by comparing the captured data generated histogram or hash of the physical features in the physical space at the location of the user to the topological graph and identifying the location of the user as one of the plurality of locations based on the comparison;
• providing geometric data points of the passable geometric map of the real world from the database to the other AR device, the geometric data points pertaining to a plurality of real objects at the identified location of the user;
• and
• displaying, by the other AR device, virtual content to the user in relation to the plurality of real objects.