Use of surface reconstruction data to identify real world floor
First Claim
1. A method performed by a head mounted display (HMD) device to identify a height of a real world floor, the HMD device supporting rendering of a virtual or mixed reality environment, the method comprising:
- obtaining surface reconstruction data associated with a real world environment adjoining a user of the HMD device;
classifying surface reconstruction data points by height;
sorting the classified data points into respective buckets;
selecting a bucket having a greatest number of data points that are below a height of the user; and
identifying a height of the real world floor relative to the user based on the data points in the selected bucket.
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Abstract
In a virtual reality or mixed reality environment, an HMD device is configured to use surface reconstruction data points obtained with a sensor package to identify a location of a floor of a real world environment in which the device operates by sorting the data points by height into respective buckets where each bucket holds a different range of heights. A bucket having the greatest number of data points that are below the height of a user of the HMD device is used to identify the height of the real world floor, for example, by calculating an average of height values of data points in that bucket. A floor for the virtual reality environment may then be aligned to the identified height of the real world floor.
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Citations
20 Claims
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1. A method performed by a head mounted display (HMD) device to identify a height of a real world floor, the HMD device supporting rendering of a virtual or mixed reality environment, the method comprising:
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obtaining surface reconstruction data associated with a real world environment adjoining a user of the HMD device; classifying surface reconstruction data points by height; sorting the classified data points into respective buckets; selecting a bucket having a greatest number of data points that are below a height of the user; and identifying a height of the real world floor relative to the user based on the data points in the selected bucket. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A head mounted display (HMD) device operable by a user in a physical environment having a real world floor, comprising:
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one or more processors; a sensor package; a display for rendering a virtual reality environment to the user; and one or more memory devices storing computer-readable instructions which, when executed by the one or more processors, perform a method comprising the steps of; i) generating surface reconstruction data for the physical environment using the sensor package, ii) using the surface reconstruction data to identify a location of the real world floor relative to the HMD device by a) sorting surface reconstruction data points into a group among a plurality of groups according to vertical distance from the HMD device, each group in the plurality of groups covering a different range of vertical distances, b) selecting a group having a greatest number of data points that exceed a threshold vertical distance from a current position of the HMD device, c) identifying a location of the real world floor relative to the HMD device based on the data points in the selected group, and iii) operating the HMD device to render the virtual reality environment on the display so that the virtual world floor is aligned with the identified location of the real world floor. - View Dependent Claims (12, 13, 14, 15, 16)
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17. One or more computer readable memories not consisting of propagated signals storing computer-executable instructions for rendering a virtual or mixed reality environment having variable elevations of virtual ground on a head mounted display (HMD) device located in a physical environment having a floor, the method comprising the steps of:
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obtaining a point cloud of surface reconstruction data; generating a mesh of the physical environment from the point cloud, the mesh including a plurality of vertices and faces; selecting a vertex in the mesh having a height that is lowest relative to the HMD device; and establishing a location of the floor of the physical environment at the height of the selected vertex. - View Dependent Claims (18, 19, 20)
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Specification