SLAM techniques may also utilize loop closure. Loop closure may refer to the process of recognizing a previously-visited location and updating beliefs accordingly. In some cases, algorithm errors can assign low priors to the location. Thus, loop closure methods may apply a second algorithm to compute some type of sensor measure similarity and re-set the location priors when a match is detected.
The identity service 240 stores identity and other personal information of actors in the ecosystem, including consumers 205, owners, sublicensees, and governing entities. Identity may be based on a self-sovereignty concept (as implemented via a blockchain) as well as using a centralized database approach. Identity can exist in both physical and virtual domains. Thus, the identity service 240 may provide the ability to link physical and virtual identities.
The transform service 245 may be used to ‘transform’ or apply filters and rules from the xR registry 250 to create the composite view that is actually rendered. This service may perform filtering (and could be part of xR registry 250, or separate from xR registry 250). The transform service 245 may take input from the xR registry 250, the rules 265, and the consumer choices, and may return what is to be rendered. The transform service 245 can also take output from the xR registry 250 and then perform transformation or apply rules.
Capabilities of the transform service 245 may include the ability to transform xR experiences 260 based on rules from xR registry 250 (at the time of an inbound request or at the time of an outbound response from the xR warehouse 255). For example, an intermediary may store personal preferences and apply the to the xR experience 260.