Fast ar device pairing using depth predictions

A computing apparatus comprising:

• a processor;
• and
• a memory storing instructions that, when executed by the processor, configure the apparatus to:
• generate predicted depths of a first point cloud by applying a pre-trained model to a first single image generated by a first monocular camera of a first augmented reality (AR) device, and first sparse 3D points generated by a first SLAM system at the first AR device;
• generate predicted depths of a second point cloud by applying the pre-trained model to a second single image generated by a second monocular camera of the second AR device, and second sparse 3D points generated by a second SLAM system at the second AR device;
• determine a relative pose between a first reference coordinate frame of the first AR device and a second reference coordinate frame of the second AR device by registering the first point cloud with the second point cloud based on corresponding predicted depths;
• and
• provide the relative pose to at least one of the first AR device or the second AR device.

A non-transitory computer-readable storage medium, the computer-readable storage medium including instructions that when executed by a computer, cause the computer to:

• generate predicted depths of a first point cloud by applying a pre-trained model to a first single image generated by a first monocular camera of a first augmented reality (AR) device, and first sparse 3D points generated by a first SLAM system at the first AR device;
• generate predicted depths of a second point cloud by applying the pre-trained model to a second single image generated by a second monocular camera of the second AR device, and second sparse 3D points generated by a second SLAM system at the second AR device;
• determine a relative pose between a first reference coordinate frame of the first AR device and a second reference coordinate frame of the second AR device by registering the first point cloud with the second point cloud based on corresponding predicted depths;
• and
• provide the relative pose to at least one of the first AR device or the second AR device.