公开(公告)号：US11935286B2

公开(公告)日：2024-03-19

申请号：US17278935

申请日：2019-10-01

Applicant: GOOGLE LLC

Inventor： Luca Prasso ,  Seth Raphael

IPC: G06V20/10 ,  G06V10/40

CPC classification number: G06V20/10 ,  G06V10/40

Abstract: A method of vertical planar surface detection includes identifying, at an electronic device, a plurality of feature points of an environment proximate the electronic device based on imagery captured at the electronic device and based on received non-visual pose information obtained from non-visual sensors. The electronic device queries the plurality of feature points to identify one or more planar surfaces in the imagery captured at the electronic device. Further, the electronic device computes a plurality of oriented point vectors associated with the one or more planar surfaces. A vertical planar surface is detected based at least in part on one or more of the plurality of oriented point vectors being aligned in a direction perpendicular to gravity within a predetermined threshold.