System and method for three-dimensional scene reconstruction and understanding in extended reality (xr) applications

Abstract

A method includes receiving depth data of a real-world scene from a depth sensor, receiving image data of the scene from an image sensor, receiving movement data of the depth and image sensors from an IMU, and determining an initial 6DOF pose of an apparatus based on the depth data, image data, and/or movement data. The method also includes passing the 6DOF pose to a back end to obtain an optimized pose and generating, based on the optimized pose, image data, and depth data, a three-dimensional reconstruction of the scene. The reconstruction includes a dense depth map, a dense surface mesh, and/or one or more semantically segmented objects. The method further includes passing the reconstruction to a front end and rendering, at the front end, an XR frame. The XR frame includes a three-dimensional XR object projected on one or more surfaces of the scene.