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World Map Persistence

The app uses world map persistence to maintain spatial continuity when scanning large spaces across multiple sessions.

What is world map persistence

Section titled “What is world map persistence”

World map persistence allows the app to:

  • Save tracking state between sessions
  • Resume scanning in the same coordinate space
  • Maintain spatial awareness across sessions
  • Continue capturing in previously scanned areas

This is automatic spatial continuity, not manual scan merging.

How it works

Section titled “How it works”

During scanning

Section titled “During scanning”

The system builds:

  • Map of the environment
  • Position and orientation tracking
  • Geometry relative to world origin
  • World map data saved with scan

Resuming

Section titled “Resuming”

When returning to scan more:

  1. App loads saved world map
  2. System relocalizes in the space
  3. New scan data aligns to same coordinate system
  4. Continues building on previous data

Use cases

Section titled “Use cases”

Large rooms

Section titled “Large rooms”

For rooms over 500-600 square feet:

  • Stop and resume after recharging
  • Maintains spatial reference
  • No need to rescan captured areas

Interrupted scans

Section titled “Interrupted scans”

If stopping due to:

  • Low battery
  • Phone call
  • Need to rest

Resume later in the same coordinate space.

Limitations

Section titled “Limitations”

Not a merge tool

Section titled “Not a merge tool”

This is not:

  • Manual scan merging
  • Selecting two scans to combine
  • Manual alignment of scan data
  • Combining scans from weeks apart

Requirements

Section titled “Requirements”

World map persistence works when:

  • Scanning in same physical location
  • Environment hasn’t significantly changed
  • Reasonable time between sessions (hours to days)
  • Good tracking during relocalization

May not work if

Section titled “May not work if”
  • Room has been rearranged
  • Weeks or months have passed
  • Poor lighting conditions
  • Major environmental changes

Using world map persistence

Section titled “Using world map persistence”

During initial scan

Section titled “During initial scan”
  1. Start scanning normally
  2. Press red record button to begin
  3. Scan as much as possible
  4. Press record button to stop
  5. Accept the scan (checkmark button)

World map is automatically saved.

Resuming later

Section titled “Resuming later”
  1. Return to the same room
  2. Start a new scan session
  3. System attempts to relocalize using saved world map
  4. If successful, new data aligns automatically
  5. Continue scanning

Watch for “Relocalizing” status - system matching the saved world map. Move to previously scanned areas to help the camera relocalize.

Relocalization process

Section titled “Relocalization process”

What happens

Section titled “What happens”

When resuming:

  1. App loads saved world map
  2. Camera captures current view
  3. System matches features to saved map
  4. Status shows “Finding your location…”
  5. When matched, tracking becomes “Ready to scan…”
  6. Scanning continues

If relocalization fails

Section titled “If relocalization fails”

If system cannot match the saved world map:

  • Status remains “Finding your location…”
  • New scan starts in different coordinate system

Solutions:

  • Move to an area that was scanned before
  • Point at distinctive features (doors, windows, furniture)
  • Hold device steady
  • Improve lighting

If you see “Check that the device camera isn’t covered”, this indicates insufficient visual features for tracking (not relocalization failure).

Scenarios

Section titled “Scenarios”

Battery died mid-scan

Section titled “Battery died mid-scan”
  1. Accept the partial scan
  2. Recharge device
  3. Return to room
  4. Start new scan in already-scanned area
  5. Wait for relocalization
  6. Continue scanning

Large open space

Section titled “Large open space”
  1. Scan first half
  2. Accept scan
  3. Immediately start new scan in overlap area
  4. Let system relocalize
  5. Scan second half

Interrupted scan

Section titled “Interrupted scan”
  1. Accept scan where stopped
  2. After interruption, return to scanning
  3. Start in same area where interrupted
  4. Relocalization should succeed
  5. Continue scanning

What to expect

Section titled “What to expect”

Automatic continuation

Section titled “Automatic continuation”

Expect:

  • Automatic spatial continuity
  • Pause and resume capability
  • Behind-the-scenes world map persistence
  • No manual intervention required

Not provided

Section titled “Not provided”

Do not expect:

  • Manual scan merging UI
  • Alignment tools
  • Long-term scan combination
  • Cross-room scan merging
Section titled “Related documentation”