Walmart Apollo, LLC

Vijay Saradhi Yellapragada

Eugene Krivopaltsev

Daniel Hyunwoo Lee

Arami Guerra De La Llera

Sreeneel Maddika

Anisha Alahari

A method can include capturing, in real-time via a camera, an image of a real environment. The method further can include determining, using the image, a primary plane in the real environment. The method additionally can include rendering, in real-time on a display device for a user, a virtual object in the image of the real environment. The method also can include detecting a collision by the virtual object in the image, comprising: (a) projecting the virtual object onto the primary plane as a 2D resting plane for the virtual object; (b) determining tracking rays for the virtual object, wherein the tracking rays connect vertices of the 2D resting plane to a viewpoint from the camera; and (c) determining the collision based on whether the tracking rays intersect with a plane of one or more existing physical objects in the image. The method further can include upon determining that the collision is detected, outputting a haptic effect indicating the collision. Other embodiments are disclosed.

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San Ramon, CA, United States of America

Vijay Saradhi Yellapragada