https://developer.apple.com/documentation/arkit/arpointcloud https://developer.apple.com/documentation/arkit/arframe/rawfeaturepoints
The point cloud (collection of points/features) main intention is a debug visualization to what the underlying tracking algorithm processes and is not designed for additional algorithms on top of that. But, we are utilizing information contained in the points/features collected by ARKit.
Currently, the range of rawfeaturepoints is limited to about 10 meter from the device.
We see a great chance if the range is unlock. The global localization will be more robust and accurate.
ARPointCloud - Apple ARKit - FindSurface YouTube SIdQRiLj2jY
