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With the Azure Spatial Anchors Linux SDK, robots can now use Azure Spatial Anchors to localize and share information within this mixed reality ecosystem. Researchers can use the SDK, which allows robots with an onboard camera and a pose estimation system to access the service, to localize robots to the environment, to other robots, and to people using mixed reality devices, opening the door to better human-robot interaction and greater robot capabilities. By tracking salient feature points in a sequence of images from their onboard cameras and fusing that with inertial measurements, mixed reality devices can both estimate how they’re moving and build a sparse local map of where these feature points are in 3D. Android and iOS mobile devices utilize the same type of visual SLAM algorithms—via ARCore and ARKit, respectively—to render augmented reality content on screen, and these algorithms produce the same kind of sparse maps as mixed reality devices. When a mixed reality device observes the same place in the world at some later time and the device queries ASA with a local map of the place, some of the feature points in the query map should match the ones in the cloud map, which allows ASA to robustly compute a relative six-degree-of-freedom pose for the device using these correspondences.