Apple Inc.

Matterport, Inc.

Kyle L Simek

Matthew Tschudy Bell

David Alan Gausebeck

Ming Chuang

Maxime Meilland

Pedro Antonio Pinies Rodriguez

Andrew Predoehl

Johan V Hedberg

Corentin Cheron

Mukul Sati

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.

Toggling operating modes for generating 3D representations

This application generally relates to capturing and aligning panoramic image and depth data. In one embodiment, a device is provided that comprises a housing and a plurality of cameras configured to capture two-dimensional images, wherein the cameras are arranged at different positions on the housing and have different azimuth orientations relative to a center point such that the cameras have a collective field-of-view spanning up to 360° horizontally. The device further comprises a plurality of depth detection components configured to capture depth data, wherein the depth detection components are arranged at different positions on the housing and have different azimuth orientations relative to the center point such that the depth detection components have the collective field-of-view spanning up to 360° horizontally.

Capturing and aligning panoramic image and depth data

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.

Multi-resolution voxel meshing

This application generally relates to capturing and aligning panoramic image and depth data. In one embodiment, a device is provided that comprises a housing and a plurality of cameras configured to capture two-dimensional images, wherein the cameras are arranged at different positions on the housing and have different azimuth orientations relative to a center point such that the cameras have a collective field-of-view spanning up to 360&#xb0; horizontally. The device further comprises a plurality of depth detection components configured to capture depth data, wherein the depth detection components are arranged at different positions on the housing and have different azimuth orientations relative to the center point such that the depth detection components have the collective field-of-view spanning up to 360&#xb0; horizontally.

Growing community of inventors

San Jose, CA, United States of America

Kyle L Simek