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公开(公告)号：US20240161527A1
公开(公告)日：2024-05-16
申请号：US18411138
申请日：2024-01-12
Applicant: Apple Inc.
Inventor： Payal Jotwani
IPC: G06V30/262 , G06F18/24 , G06T7/10 , G06T7/70 , G06T7/80
CPC classification number: G06V30/274 , G06F18/24 , G06T7/10 , G06T7/70 , G06T7/80 , G06T2207/10028
Abstract: A device obtains a point cloud of a scene including a plurality of points. Each point has three-dimensional coordinates in a three-dimensional coordinate system. A first cluster of points has a first semantic label. The device obtains a two-dimensional image of the scene with a camera with an intrinsic parameter. The device detects, in the two-dimensional image, a representation of a first object corresponding to the first semantic label. The device determines two-dimensional coordinates in a two-dimensional coordinate system of the two-dimensional image corresponding to the first object. The device determines, from the first cluster of points, three-dimensional coordinates in the three-dimensional coordinate system of the scene corresponding to the two-dimensional coordinates in the two-dimensional coordinate system of the two-dimensional image of the scene. The device estimates the intrinsic parameter based on the two-dimensional and the three-dimensional coordinates.
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公开(公告)号：US11869144B1
公开(公告)日：2024-01-09
申请号：US17678229
申请日：2022-02-23
Applicant: Apple Inc.
Inventor： Payal Jotwani , Bo Morgan , Behrooz Mahasseni , Bradley W. Peebler , Dan Feng , Mark E. Drummond , Siva Chandra Mouli Sivapurapu
CPC classification number: G06T17/00 , G06T15/04 , G06V10/462
Abstract: In some implementations, a device includes one or more sensors, one or more processors and a non-transitory memory. In some implementations, a method includes determining that a first portion of a physical environment is associated with a first saliency value and a second portion of the physical environment is associated with a second saliency value that is different from the first saliency value. In some implementations, the method includes obtaining, via the one or more sensors, environmental data corresponding to the physical environment. In some implementations, the method includes generating, based on the environmental data, a model of the physical environment by modeling the first portion with a first set of modeling features that is a function of the first saliency value and modeling the second portion with a second set of modeling features that is a function of the second saliency value.
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公开(公告)号：US20230326205A1
公开(公告)日：2023-10-12
申请号：US18209582
申请日：2023-06-14
Applicant: Apple Inc.
Inventor： Mark Drummond , Payal Jotwani
CPC classification number: G06V20/20 , G06T19/006
Abstract: In one implementation, a method of defining a negative space in a three-dimensional scene model is performed at a device including a processor and non-transitory memory. The method includes obtaining a three-dimensional scene model of a physical environment including a plurality of points, wherein each of the plurality of points is associated with a set of coordinates in a three-dimensional space. The method includes defining a subspace in the three-dimensional space with less than a threshold number of the plurality of points. The method includes determining a semantic label for the subspace. The method includes generating a characterization vector of the subspace, wherein the characterization vector includes the spatial extent of the subspace and the semantic label.
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公开(公告)号：US11361501B2
公开(公告)日：2022-06-14
申请号：US17158227
申请日：2021-01-26
Applicant: Apple Inc.
Inventor： Payal Jotwani
Abstract: In one implementation, a method of semantically labeling a point cloud cluster is performed at a device including one or more processors and non-transitory memory. The method includes obtaining a point cloud of a physical environment including a plurality of points, each of the plurality of points associated with coordinates in a three-dimensional space. The method includes spatially disambiguating portions of the plurality of points into a plurality of clusters. The method includes determining a semantic label based on a volumetric arrangement of the points of a particular cluster of the plurality of clusters. The method includes generating a characterization vector of a particular point of the points of the particular cluster, wherein the characterization vector includes the coordinates of the particular point, a cluster identifier of the particular cluster, and the semantic label.
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公开(公告)号：US20210272355A1
公开(公告)日：2021-09-02
申请号：US17158227
申请日：2021-01-26
Applicant: Apple Inc.
Inventor： Payal Jotwani
Abstract: In one implementation, a method of semantically labeling a point cloud cluster is performed at a device including one or more processors and non-transitory memory. The method includes obtaining a point cloud of a physical environment including a plurality of points, each of the plurality of points associated with coordinates in a three-dimensional space. The method includes spatially disambiguating portions of the plurality of points into a plurality of clusters. The method includes determining a semantic label based on a volumetric arrangement of the points of a particular cluster of the plurality of clusters. The method includes generating a characterization vector of a particular point of the points of the particular cluster, wherein the characterization vector includes the coordinates of the particular point, a cluster identifier of the particular cluster, and the semantic label.
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Patent Agency Ranking
公开(公告)号：US12045941B1
公开(公告)日：2024-07-23
申请号：US17222571
申请日：2021-04-05
Applicant: Apple Inc.
Inventor： Payal Jotwani , Angela Blechschmidt
CPC classification number: G06T19/006 , G06T7/13 , G06V10/443 , G06T2207/10028
Abstract: In one implementation, a method of generating an object model is performed at a device including one or more processors and non-transitory memory. The method includes obtaining a point cloud including a plurality of points, wherein each of the plurality of points is associated with a plurality of sets of coordinates in a three-dimensional space at a respective plurality of time periods. The method includes generating an object model including a plurality of vertices corresponding to the plurality of points and a plurality of edges between respective pairs of the plurality of vertices. The method includes generating, based on the sets of coordinates of a particular point, a characterization vector of a particular vertex corresponding to the particular point, wherein the characterization vector includes a joint label and joint data with respect to one or more of the plurality of edges of the particular vertex.
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公开(公告)号：US12008720B1
公开(公告)日：2024-06-11
申请号：US17746218
申请日：2022-05-17
Applicant: Apple Inc.
Inventor： Bo Morgan , Payal Jotwani , Angela Blechschmidt , Mark E. Drummond , Daniel Ulbricht
CPC classification number: G06T19/003 , G06T2200/24 , G06T2210/61
Abstract: In one implementation, a method of achieving an objective using a scene graph includes identifying a set of transition couples of a plurality of transition couples between sets of spatial relationships of the scene graph, wherein each spatial relationship of a respective first set of spatial relationships indicated by each transition couple of the set of transition couples is included in an initial set of spatial relationships or an respective second set of spatial relationships indicated by a previous transition couple and wherein a particular spatial relationship is included in a respective second set of spatial relationships of a last transition couple of the set of transition couples.
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公开(公告)号：US20230298266A1
公开(公告)日：2023-09-21
申请号：US18071295
申请日：2022-11-29
Applicant: Apple Inc.
Inventor： Payal Jotwani , Angela Blechschmidt
Abstract: In one implementation, a method of providing a portion of a three-dimensional scene model includes storing, in the non-transitory memory, a three-dimensional scene model of a physical environment including a plurality of points, wherein each of the plurality of points is associated with a set of coordinates in a three-dimensional space, wherein a subset of the plurality of points is associated with a hierarchical data set including a plurality of layers. The method includes receiving, from an objective-effectuator, a request for a portion of the three-dimensional scene model, wherein the portion of the three-dimensional scene model includes less than all of the plurality of points or less than all of the plurality of layers. The method includes obtaining, by the processor from the non-transitory memory, the portion of the three-dimensional scene model. The method includes providing, to the objective-effectuator, the portion of the three-dimensional scene model.
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公开(公告)号：US20230089049A1
公开(公告)日：2023-03-23
申请号：US17853557
申请日：2022-06-29
Applicant: Apple Inc.
Inventor： Mark E. Drummond , Daniel L. Kovacs , Shaun D. Budhram , Edward Ahn , Behrooz Mahasseni , Aashi Manglik , Payal Jotwani , Mu Qiao , Bo Morgan , Noah Gamboa , Michael J. Gutensohn , Dan Feng , Siva Chandra Mouli Sivapurapu
IPC: G06T19/00
Abstract: In one implementation, a method of displaying content is performed at a device including a display, one or more processors, and non-transitory memory. The method includes scanning a first physical environment to detect a first physical object in the first physical environment and a second physical object in the first physical environment, wherein the first physical object meets at least one first object criterion and the second physical object meets at least one second object criterion. The method includes displaying, in association with the first physical environment, a virtual object moving along a first path from the first physical object to the second physical object. The method includes scanning a second physical environment to detect a third physical object in the second physical environment and a fourth physical object in the second physical environment, wherein the third physical object meets the at least one first object criterion and the fourth physical object meets the at least one second object criterion. The method includes displaying, in association with the second physical environment, the virtual object moving along a second path from the third physical object to the fourth physical object, wherein the second path is different than the first path.
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公开(公告)号：US11532139B1
公开(公告)日：2022-12-20
申请号：US17323775
申请日：2021-05-18
Applicant: Apple Inc.
Inventor： Daniel Laszlo Kovacs , Payal Jotwani
Abstract: In some implementations, a method of improved pathfinding is performed at a virtual agent operating system including non-transitory memory and one or more processors coupled with the non-transitory memory. The method includes: determining an initial path for a virtual agent to a target destination based at least in part on a navigation mesh of an XR environment; actuating locomotive elements of the virtual agent in order to move the virtual agent according to the initial path; while moving according to the initial path, detecting a node of a navigation graph; in response to detecting the node of the navigation graph: obtaining navigation information from the node of the navigation graph; and determining an updated path from the node to the target destination based at least in part on the navigation mesh and the navigation information; and actuating the locomotive elements of the virtual agent according to the updated path.
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