A cross reality system enables any of multiple types of devices to efficiently and accurately access previously stored maps and render virtual content specified in relation to those maps. The cross reality system may include a cloud-based localization service that responds to requests from devices to localize with respect to a stored map. Devices of any type, with native hardware and software configured for augmented reality operations may be configured to work with the cross reality system by incorporating components that interface between the native AR framework of the device and the cloud-based localization service. These components may present position information about the device in a format recognized by the localization service. Additionally, these components may filter or otherwise process perception data provided by the native AR framework to increase the accuracy of localization.