Systems and methods for detecting objects within the boundary of a defined space while in artificial reality

A system comprising one or more processors and one or more computer-readable non-transitory storage media coupled to one or more of the processors and comprising instructions operable when executed by one or more of the processors to cause the system to:

• generate a plurality of spatial points based on depth measurements of one or more physical objects within a physical space surrounding a user;
• determine, based on the spatial points, an occupancy score for each voxel within a plurality of voxels;
• render, based on the occupancy score for each voxel, a virtual space representing the physical space,
• display the virtual space to the user;
• while displaying the virtual space, receive an input from the user creating a boundary of a subspace within the virtual space;
• determine, based on the occupancy scores of the plurality of voxels, that additional unoccupied space exists outside of the boundary of the subspace;
• and
• output a suggestion to the user to expand the boundary of the subspace based on the determination that additional unoccupied space exists outside of the boundary of the subspace.

One or more computer-readable non-transitory storage media embodying software that is operable when executed to:

• generate a plurality of spatial points based on depth measurements of one or more physical objects within a physical space surrounding a user;
• determine, based on the spatial points, an occupancy score for each voxel within a plurality of voxels;
• render, based on the occupancy score for each voxel, a virtual space representing the physical space,
• display the virtual space to the user;
• while displaying the virtual space, receive an input from the user creating a boundary of a subspace within the virtual space;
• determine, based on the occupancy scores of the plurality of voxels, that additional unoccupied space exists outside of the boundary of the subspace;
• and
• output a suggestion to the user to expand the boundary of the subspace based on the determination that additional unoccupied space exists outside of the boundary of the subspace.