US Patent 11200741 Generating high fidelity spatial maps and pose evolutions

Techniques for generating a unified map and for determining a pose evolution are disclosed. A HMD generates images of an environment. Feature points can be identified from those images. The images and/or the feature points are used to generate a map of a previously unmapped environment. The images and/or feature points are also used to generate a pose evolution of the HMD. It may be the case that another map converges with the first map. If that is the case, then a unified map is generated by linking the two maps at the convergence point. The pose evolutions may also be linked. After action reviews are improved through the use of the unified map and pose evolution.