Collaborative augmented reality eyewear with ego motion alignment

An interactive augmented reality method for use of eyewear having a camera configured to generate an image, a display, an inertial measurement unit (IMU), a pose tracker, and a processor, the processor:

• using the pose tracker to generate trajectories of the eyewear;
• using the IMU to align the trajectories of the pose tracker;
• detecting a remote user having a remote device in an environment, wherein the remote device generates trajectories using a remote pose tracker;
• identifying a point on the remote device;
• and
• aligning the trajectories of the eyewear with the trajectories of the remote device to establish a shared coordinate system between the eyewear and the remote device, wherein the processor uses the identified point to align the trajectories.

A non-transitory computer-readable medium storing program code which, when executed, is operative to cause an electronic processor of eyewear having a camera configured to generate a image, a display, an inertial measurement unit (IMU), and a pose tracker to perform the steps of:

• using the pose tracker to generate trajectories of the eyewear;
• use the IMU to align the trajectories of the pose tracker;
• detecting a remote user having a remote device in an environment, wherein the remote device generates trajectories using a remote pose tracker;
• identifying a point on the remote device;
• and
• aligning the trajectories of the eyewear with the trajectories of the remote device to establish a shared coordinate system between the eyewear and the remote device, wherein the identified point is used to align the trajectories.