公开(公告)号：US20220237872A1

公开(公告)日：2022-07-28

申请号：US17717393

申请日：2022-04-11

Applicant: Apple Inc.

Inventor： Maxine Meilland ,  Andrew Predoehl ,  Kyle L. Simek ,  Ming Chuang ,  Pedro A. Pinies Rodriguez

IPC: G06T17/20 ,  G06T3/40

Abstract: Various implementations disclosed herein generate a mesh representing the surfaces in a physical environment. The mesh is generated using multi-resolution voxels based on detected depth information, e.g., from a depth camera. The techniques may use multiple hash tables to store the multi-resolution voxel data. For example, the hash tables may store each voxel's 3D position and a truncated signed distance field (TSDF) value corresponding to each voxels' distance to a nearest surface. Each of the multiple hash tables may include data corresponding to a different level of resolution and those resolutions may depend upon distance/noise or other factors. For example, voxels close to a depth camera may have a finer resolution and smaller size compared to voxels that are further from the depth camera. Techniques disclosed herein may involve using a meshing algorithm that combines multi-resolution voxel information stored in multiple hash tables to generate a single mesh.

公开(公告)号：US11328481B2

公开(公告)日：2022-05-10

申请号：US17147559

申请日：2021-01-13

Applicant: Apple Inc.

Inventor： Maxime Meilland ,  Andrew Predoehl ,  Kyle L. Simek ,  Ming Chuang ,  Pedro A. Pinies Rodriguez

IPC: G06T17/20 ,  G06T3/40

Abstract: Various implementations disclosed herein generate a mesh representing the surfaces in a physical environment. The mesh is generated using multi-resolution voxels based on detected depth information, e.g., from a depth camera. The techniques may use multiple hash tables to store the multi-resolution voxel data. For example, the hash tables may store each voxel's 3D position and a truncated signed distance field (TSDF) value corresponding to each voxels' distance to a nearest surface. Each of the multiple hash tables may include data corresponding to a different level of resolution and those resolutions may depend upon distance/noise or other factors. For example, voxels close to a depth camera may have a finer resolution and smaller size compared to voxels that are further from the depth camera. Techniques disclosed herein may involve using a meshing algorithm that combines multi-resolution voxel information stored in multiple hash tables to generate a single mesh.

公开(公告)号：US20240077985A1

公开(公告)日：2024-03-07

申请号：US18339104

申请日：2023-06-21

Applicant: Apple Inc.

Inventor： Divya T. Ramakrishnan ,  Brandon J. Van Ryswyk ,  Reinhard Klapfer ,  Antti P. Saarinen ,  Kyle L. Simek ,  Aitor Aldoma Buchaca ,  Tobias Böttger-Brill ,  Robert Maier ,  Ming Chuang

IPC: G06F3/04815 ,  G01B11/02 ,  G06F3/04842 ,  G06T7/593

CPC classification number: G06F3/04815 ,  G01B11/026 ,  G06F3/04842 ,  G06T7/593

Abstract: An electronic device may include one or more sensors that capture sensor data for a physical environment around the electronic device. The sensor data may be used to determine a scene understanding data set for an extended reality environment including the electronic device. The scene understanding data set may include information such as spatial information, information regarding physical objects in the extended reality environment, and information regarding virtual objects in the extended reality environment. When providing scene understanding data to one or more applications running on the electronic device, spatial and/or temporal restrictions may be applied to the scene understanding data set. Scene understanding data that is associated with locations within a boundary and that is associated with times after a cutoff time may be provided to an application.

公开(公告)号：US20210225074A1

公开(公告)日：2021-07-22

申请号：US17147559

申请日：2021-01-13

Applicant: Apple Inc.

Inventor： Maxime Meilland ,  Andrew Predoehl ,  Kyle L. Simek ,  Ming Chuang ,  Pedro A. Pinies Rodriguez

IPC: G06T17/20 ,  G06T3/40

Abstract: Various implementations disclosed herein generate a mesh representing the surfaces in a physical environment. The mesh is generated using multi-resolution voxels based on detected depth information, e.g., from a depth camera. The techniques may use multiple hash tables to store the multi-resolution voxel data. For example, the hash tables may store each voxel's 3D position and a truncated signed distance field (TSDF) value corresponding to each voxels' distance to a nearest surface. Each of the multiple hash tables may include data corresponding to a different level of resolution and those resolutions may depend upon distance/noise or other factors. For example, voxels close to a depth camera may have a finer resolution and smaller size compared to voxels that are further from the depth camera. Techniques disclosed herein may involve using a meshing algorithm that combines multi-resolution voxel information stored in multiple hash tables to generate a single mesh.

公开(公告)号：US11928779B2

公开(公告)日：2024-03-12

申请号：US17717393

申请日：2022-04-11

Applicant: Apple Inc.

Inventor： Maxime Meilland ,  Andrew Predoehl ,  Kyle L. Simek ,  Ming Chuang ,  Pedro A. Pinies Rodriguez

IPC: G06T17/20

CPC classification number: G06T17/20 ,  G06T3/4007 ,  G06T2200/04

Abstract: Various implementations disclosed herein generate a mesh representing the surfaces in a physical environment. The mesh is generated using multi-resolution voxels based on detected depth information, e.g., from a depth camera. The techniques may use multiple hash tables to store the multi-resolution voxel data. For example, the hash tables may store each voxel's 3D position and a truncated signed distance field (TSDF) value corresponding to each voxels' distance to a nearest surface. Each of the multiple hash tables may include data corresponding to a different level of resolution and those resolutions may depend upon distance/noise or other factors. For example, voxels close to a depth camera may have a finer resolution and smaller size compared to voxels that are further from the depth camera. Techniques disclosed herein may involve using a meshing algorithm that combines multi-resolution voxel information stored in multiple hash tables to generate a single mesh.

公开(公告)号：US20230215081A1

公开(公告)日：2023-07-06

申请号：US18093364

申请日：2023-01-05

Applicant: Apple Inc.

Inventor： Johan V. Hedberg ,  Corentin Cheron ,  Mukul Sati ,  Kyle L. Simek

IPC: G06T15/20

CPC classification number: G06T15/20

Abstract: Various implementations disclosed herein include devices, systems, and methods that adjusts operating modes for generating three-dimensional (3D) representations of a physical environment. For example, an example process may include acquiring sensor data by the one or more sensors in a physical environment and operating the device according to a first operating mode and a second operating mode during different periods of time. In the first operating mode (e.g., discovery mode), the device generates a 3D representation of the physical environment based on the sensor data and the device monitors one or more conditions to switch to the second operating mode. In the second operating mode (e.g., monitoring mode), the device monitors the one or more conditions to switch to the first operating mode and generates the 3D representation differently than the first operating mode.