US Patent 11055921 System and method for dense, large scale scene reconstruction

A system configured to improve the operations associated with generating virtual representations on limited resources of a mobile device. In some cases, the system may utilize viewpoint bundles that include collection of image data with an associated pose in relative physical proximity to each other to render a virtual scene. In other cases, the system may utilize 2.5D manifolds including 2D image data and a weighted depth value to render the 3D environment.