Semantic mapping for low-power augmented reality using dynamic vision sensor

An apparatus comprising:

• a communication unit configured to:
• receive, from a first device, first pose data associated with an image sensor of the first device, and a first semantic map generated by the first device, the first semantic map comprising at least one simplified object representation in a coordinate space of the first device;
• and
• receive, from a second device, second pose data associated with an image sensor of the second device, and a second semantic map generated by the second device, the second semantic map comprising at least one simplified object representation in a coordinate space of the second device;
• and
• a processor configured to:
• identify a shared simplified object representation common to the first semantic map and the second semantic map;
• and
• combine the first semantic map with the second semantic map based on the first pose data and the second pose data,
• wherein the first pose data, the first semantic map, the second pose data, and the second semantic map are associated with a common time interval.

A non-transitory computer-readable medium comprising program code that, when executed by a processor of an apparatus, causes the apparatus to:

• receive, from a first device, first pose data associated with an image sensor of the first device, and a first semantic map generated by the first device, the first semantic map comprising at least one simplified object representation in a coordinate space of the first device;
• receive, from a second device, second pose data associated with an image sensor of the second device, and a second semantic map generated by the second device, the second semantic map comprising at least one simplified object representation in a coordinate space of the second device;
• identify a shared simplified object representation common to the first semantic map and the second semantic map;
• and
• combine the first semantic map with the second semantic map based on the first pose data and the second pose data,
• wherein the first pose data, the first semantic map, the second pose data, and the second semantic map are associated with a common time interval.