System and method for depth and scene reconstruction for augmented reality or extended reality devices

Abstract

A method includes obtaining first and second image data of a real-world scene, performing feature extraction to obtain first and second feature maps, and performing pose tracking based on at least one of the first image data, second image data, and pose data to obtain a 6DOF pose of an apparatus. The method also includes generating, based on the 6DOF pose, first feature map, and second feature map, a disparity map between the image data and generating an initial depth map based on the disparity map. The method further includes generating a dense depth map based on the initial depth map and a camera model and generating, based on the dense depth map, a three-dimensional reconstruction of at least pail of the scene. In addition, the method includes rendering an AR or XR display that includes one or more virtual objects positioned to contact one or more surfaces of the reconstruction.