The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 12, 2022
Filed:
Dec. 21, 2020
Applicant:
Apple Inc., Cupertino, CA (US);
Inventors:
Oliver Montague Welton Dunkley, Santa Clara, CA (US);
Michael Jaison Gnanasekar, Santa Clara, CA (US);
Aitor Aldoma Buchaca, Los Gatos, CA (US);
Assignee:
APPLE INC., Cupertino, CA (US);
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G06T 7/60 (2017.01); G06T 7/50 (2017.01);
U.S. Cl.
CPC ...
G06T 7/60 (2013.01); G06T 7/50 (2017.01); G06T 2207/10028 (2013.01); G06T 2207/20072 (2013.01); G06T 2207/20076 (2013.01);
Abstract
In one implementation, a method of generating a horizontal plane hypothesis includes obtaining a point cloud of a scene including a plurality of points in a gravity-aligned coordinate system. The method includes generating, based on the plurality of points, a height histogram indicative of a plurality of non-overlapping height ranges in the gravity-aligned coordinate system and a respective plurality of weights. The method includes generating one or more horizontal plane hypotheses based on the height histogram.