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US 11,961,251 B2Granted
Continuous surface and depth estimation
AssigneeSnap Inc.
InventorsOlha Borys, Ilteris Kaan Canberk, Daniel Wagner, Jakob Zillner
Life of this patent
Estimating the term…
Abstract
Disclosed are systems, methods, and non-transitory computer-readable media for continuous surface and depth estimation. A continuous surface and depth estimation system determines the depth and surface normal of physical objects by using stereo vision limited within a predetermined window.
Claims20
A method comprising:
- detecting a set of matching features within a predetermined window of a first image and a second image, the set of matching features comprising a first feature depicted within the predetermined window of the first image, and a second feature depicted within the predetermined window of the second image, the first image captured by a first optical sensor and the second image captured by a second optical sensor, the set of matching features corresponding to physical features of a physical object;
- determining a depth value for each pair of matching features, yielding a set of depth values, each depth value indicating a depth of a respective physical feature of the physical object;
- determining a surface plane based on the set of depth values, the surface plane indicating a depth and surface normal of a surface of the physical object;
- and
- causing presentation of virtual content based on the surface plane.
2 more elements
A system comprising:
- one or more computer processors;
- and
- one or more computer readable mediums storing instructions that, when executed by the one or more computer processors, causes the system to perform operations comprising:
- detecting a set of matching features within a predetermined window of a first image and a second image, the set of matching features comprising a first feature depicted within the predetermined window of the first image, and a second feature depicted within the predetermined window of the second image, the first image captured by a first optical sensor and the second image captured by a second optical sensor, the set of matching features corresponding to physical features of a physical object;
- determining a depth value for each pair of matching features, yielding a set of depth values, each depth value indicating a depth of a respective physical feature of the physical object;
- determining a surface plane based on the set of depth values, the surface plane indicating a depth and surface normal of a surface of the physical object;
- and
- causing presentation of virtual content based on the surface plane.
5 more elements
A non-transitory machine-readable storage medium comprising instructions that, when executed by one or more processors of one or more computing devices, cause the one or more computing devices to perform operations comprising:
- detecting a set of matching features within a predetermined window of a first image and a second image, the set of matching features comprising a first feature depicted within the predetermined window of the first image, and a second feature depicted within the predetermined window of the second image, the first image captured by a first optical sensor and the second image captured by a second optical sensor, the set of matching features corresponding to physical features of a physical object;
- determining a depth value for each pair of matching features, yielding a set of depth values, each depth value indicating a depth of a respective physical feature of the physical object;
- determining a surface plane based on the set of depth values, the surface plane indicating a depth and surface normal of a surface of the physical object;
- and
- causing presentation of virtual content based on the surface plane.
2 more elements
Dependencies are inferred from the claim text.