Guided tracking build: map points are matched by projection (fast + viewpoint-consistent), pose is IRLS-refined, and LK is seeded by the IMU-predicted motion.
Map points
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Keyframes
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FPS
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Correspondences
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Inliers
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Tracking
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Sensors
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Sharpness
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Anchors
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Maps
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Vision
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Map: aim at a textured floor, then walk sideways slowly. Place: tap a mapped surface. VPS: freezes the map; reacquisition first searches near your last pose, then the whole map. Save/Load: cross-session maps auto-align heading via a yaw search.