CubicLayer is a geospatial voxel editor for the Apple Vision Pro on the App Store.
Users can build alone or with friends on top of a custom CRDT.
It extends ARKit to allow for unbounded relocalization using the environment mesh as seen below. By fusing the device odometry and phone GNSS data it does long distance drift compensation and true North heading estimation for many miles.
CRDT Perf Test
In this stress test each block placement is a single CRDT op. The target device achieves a sustained ~4200 ops/second rate.
Remote Scene Update
Shows the relocalization then a remote client connected to the same server backend. Small block edits are sent via UDP and broadcast to clients.
LLM Building Assistent on CRDT
Users can also request builds via Anthropic's Claude LLM. All LLM operations in the same build can be rolled back with a single undoGroup CRDT operation.
Relocalization on Concrete Foundation
Shows the mesh based relocalization system in the shipped version with the majority of the pipeline moved to the GPU for faster performance.
Offline Relocalization
Shows the mesh based relocalization system searching the current environment's mesh in blue for the prior mesh segment in red. When the mesh is found the voxel world is moved to where it was relative to the structure. UI in alpha state.
Relocalization Debug View
Shows the mesh we are searching for in orange with the environment in blue moving once the pose is found. The cubes on each mesh are the keypoints.
Relocalization on Some Rocks
Shows another relocalization claculation, this time showing the released visualization. The orange points are a sample of the keypoints to indicate the search is ongoing. Again we see the prior red mesh on top of the current blue environment mesh once a transform is computed.
Final UI
Shows the final UI. Hand pinches are detected 50-100ms before the UI registers interactions. I've added dynamic latency for setting blocks based on the menus positions in the user's view frustum and orientation.