Apple Inc.

Connie Wu

Stergios I Roumeliotis

Oleg Naroditsky

Kuen-Han Lin

Daniel C Byrnes

Various implementations disclosed herein include devices, systems, and methods that localize a device based on detecting planes in depth data acquired by the device. For example, an example process may include detecting first plane data in first sensor data acquired by a sensor at a first viewpoint location in a physical environment, detecting second plane data in second sensor data acquired by the sensor at a second viewpoint location in the physical environment, determining that the first plane data and the second plane data correspond to a same plane based on comparing the first plane data with the second plane data, and determining a spatial transformation between the first viewpoint location and the second viewpoint location based on the first plane data and the second plane data.

Growing community of inventors

Menlo Park, CA, United States of America

Connie Wu