Space carving based on human physical data
First Claim
1. A method for three dimensional (3D) space carving of a user environment based on movement through the user environment by one or more users wearing respective near-eye display (NED) systems, comprising:
- identifying, by one or more processors, one or more user navigable paths respectively traversed by the one or more of the users wearing the respective NED systems in the user environment based on sensor data from one or more respective position indicating sensors of the respective NED systems;
merging overlapping portions of the one or more user navigable paths traversed by the one or more users;
storing position and spatial dimensions for the one or more navigable paths as constituting carved out space within stored human space carving data configured for use by a 3D modeling of the user environment; and
generating and displaying a 3D space carved mapping of the user environment by;
detecting, by the one or more processors, one or more object boundaries by distinguishing the carved out space and un-carved space based on the human space carving data;
determining a position relationship between the one or more object boundaries and a path position stored in the human space carving data; and
based on the position relationship for the path position and the one or more object boundaries determined based on the human space carving data, the one or more processors generating the 3D space carved mapping relating the carved out space to the one or more object boundaries in the user environment.
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Accused Products
Abstract
Technology is described for (3D) space carving of a user environment based on movement through the user environment of one or more users wearing a near-eye display (NED) system. One or more sensors on the near-eye display (NED) system provide sensor data from which a distance and direction of movement can be determined. Spatial dimensions for a navigable path can be represented based on user height data and user width data of the one or more users who have traversed the path. Space carving data identifying carved out space can be stored in a 3D space carving model of the user environment. The navigable paths can also be related to position data in another kind of 3D mapping like a 3D surface reconstruction mesh model of the user environment generated from depth images.
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Citations
18 Claims
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1. A method for three dimensional (3D) space carving of a user environment based on movement through the user environment by one or more users wearing respective near-eye display (NED) systems, comprising:
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identifying, by one or more processors, one or more user navigable paths respectively traversed by the one or more of the users wearing the respective NED systems in the user environment based on sensor data from one or more respective position indicating sensors of the respective NED systems; merging overlapping portions of the one or more user navigable paths traversed by the one or more users; storing position and spatial dimensions for the one or more navigable paths as constituting carved out space within stored human space carving data configured for use by a 3D modeling of the user environment; and generating and displaying a 3D space carved mapping of the user environment by; detecting, by the one or more processors, one or more object boundaries by distinguishing the carved out space and un-carved space based on the human space carving data; determining a position relationship between the one or more object boundaries and a path position stored in the human space carving data; and based on the position relationship for the path position and the one or more object boundaries determined based on the human space carving data, the one or more processors generating the 3D space carved mapping relating the carved out space to the one or more object boundaries in the user environment. - View Dependent Claims (2, 3, 4, 5)
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6. A method for three dimensional (3D) space carving of a user environment based on movement through the user environment by one or more users wearing respective near-eye display (NED) systems, comprising:
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identifying, by one or more processors, one or more user navigable paths respectively traversed by the one or more of the users wearing the respective NED systems in the user environment based on sensor data from one or more respective position indicating sensors of the respective NED systems; representing spatial dimensions of a carved out space portion of the one or more navigable paths at a path position as a substantially vertical three-dimensional tile having dimensions corresponding to at least one of user height data and user width data; merging overlapping portions of the one or more user navigable paths traversed by the one or more users; associating a set of time stamped sensor data with a starting path position; setting the starting path position as the previous path position; selecting a next in time set of time stamped sensor data as a current path position; determining a position vector from the previous path position to the current path position based on the respective sets of time stamped sensor data associated with the previous path position and current path position; interpolating a height offset curve between the previous path position and the current path position based at least on accelerometer data captured in a time period between time stamps for sets of time stamped sensor data for the previous path position and the current path position; identifying a path segment volume between the current path position and the previous path position based on the position vector and corresponding points along a boundary of each tile representing the previous and current path positions; storing the position vector and position data for the corresponding boundary points for the path segment volume in space carving data; linking any path segments with overlapping volumes with a same path identifier in memory; and storing position and spatial dimensions for the one or more navigable paths as constituting carved out space within stored human space carving data configured for use by a 3D modeling of the user environment.
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7. A near-eye display (NED) system comprising:
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a near-eye support structure; a NED supported by the near-eye support structure and having a field of view approximating a user field of view; and one or more processors communicatively coupled to one or more position indicating sensors supported by the near-eye support structure, the one or more processors configured to; determine a distance and a direction of movement of a user wearing the NED system based on time stamped sensor data from the one or more position indicating sensors; identify one or more three dimensional (3D), space carved navigable paths traversed by the user based on the determined distance and the determined direction of movement, wherein the identified one or more 3D, space carved navigable paths including at least one of width dimensions or height dimensions associated with the user; store, in an accessible memory, space carving data representing the identified one or more 3D, space carved navigable paths as part of a 3D space carving based model of a user environment; and generate and display a 3D space carved mapping of the user environment by; detecting one or more object boundaries by distinguishing the carved out space and un-carved space based on the human space carving data; determining a position relationship between the one or more object boundaries and a path position stored in the human space carving data; and based on the position relationship for the path position and the one or more object boundaries determined based on the human space carving data, generating the 3D space carved mapping relating the carved out space to the one or more object boundaries in the user environment. - View Dependent Claims (8, 9, 10, 11, 12, 13)
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14. One or more processor readable storage devices storing processor readable instructions that cause one or more processors to execute a method for sensing a three dimensional (3D) space carving of a user environment due to movement through the user environment by one or more users wearing respective near-eye display (NED) systems each having at least one respective position indicating sensor, the instructions comprising code for:
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identifying one or more 3D navigable paths traversed by the one or more users wearing the respective NED systems in the user environment, the identifying being based on user physical features including at least one of user height or user body width, and further based on sensor data from at least one respective position indicating sensor of each respectively used NED systems; merging overlapping portions of the one or more 3D navigable paths traversed by the one or more users; storing position and spatial dimensions for the one or more 3D navigable paths as carved out space as human space carving data in a memory of a 3D space carving modeling unit; generating a 3D space carved mapping of the user environment by; detecting one or more object boundaries by distinguishing the carved out space and un-carved space based on the human space carving data; determining a position relationship between the one or more object boundaries and a path position stored in the human space carving data; and based on the position relationship for the path position and the one or more object boundaries determined based on the human space carving data, generating a 3D space carved mapping relating the carved out space to the one or more object boundaries in the user environment; and displaying a visual representation of the state of space carving thus far carved out in the user environment as feedback to a user of the one or more users. - View Dependent Claims (15, 16, 17, 18)
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Specification