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:
Mar. 19, 2024
Filed:
Oct. 01, 2019
Google Llc, Mountain View, CA (US);
Luca Prasso, Mountain View, CA (US);
Seth Raphael, Portland, OR (US);
GOOGLE LLC, Mountain View, CA (US);
Abstract
A method of vertical planar surface detection includes identifying, at an electronic device, a plurality of feature points of an environment proximate the electronic device based on imagery captured at the electronic device and based on received non-visual pose information obtained from non-visual sensors. The electronic device queries the plurality of feature points to identify one or more planar surfaces in the imagery captured at the electronic device. Further, the electronic device computes a plurality of oriented point vectors associated with the one or more planar surfaces. A vertical planar surface is detected based at least in part on one or more of the plurality of oriented point vectors being aligned in a direction perpendicular to gravity within a predetermined threshold.