Scene graph assisted navigation

A device comprising:

• a display;
• a non-transitory memory;
• and
• one or more processors to:
• obtain a scene graph as a data structure representing a plurality of objects and an initial set of spatial relationships between respective pairs of the plurality of objects, wherein the plurality of objects includes an objective-effectuator object;
• obtain from the scene graph a plurality of transition couples, wherein each transition couple indicates a transition from respective first set of spatial relationships in the scene graph between respective pairs of the plurality of objects to a respective second set of spatial relationships in the scene graph between respective pairs of the plurality of objects;
• display, on the display, a representation of the objective-effectuator object in association with other objects of the plurality of objects in an environment having the initial set of spatial relationships in the scene graph;
• obtain an objective indicative of a particular spatial relationship in the scene graph between a first object of the plurality of objects and a second object of the plurality of objects;
• identify a set of transition couples of the plurality of transition couples in the scene graph, wherein each spatial relationship of the respective first set of spatial relationships indicated by each transition couple of the set of transition couples in the scene graph is included in the initial set of spatial relationships or the respective second set of spatial relationships indicated by a previous transition couple in the scene graph and wherein the particular spatial relationship in the scene graph is included in the respective second set of spatial relationships of a last transition couple of the set of transition couples in the scene graph;
• display a representation of the objective-effectuator object in association with other objects of the plurality of objects in the environment having the respective second set of spatial relationships of each transition couple of the set of transition couples in the scene graph;
• fail to identify a set of transition couples of a first portion of the plurality of transition couples in the scene graph, wherein each spatial relationship of the respective first set of spatial relationships indicated by each transition couple of the set of transition couples in the scene graph is included in the initial set of spatial relationships or the respective second set of spatial relationships indicated by a previous transition couple in the scene graph and wherein the particular spatial relationship in the scene graph is included in the respective second set of spatial relationships of a last transition couple of the set of transition couples in the scene graph;
• and
• in response to failing to identify the set of transition couples of the first portion of the plurality of transition couples in the scene graph, obtain a second portion of the plurality of transition couples in the scene graph.

A non-transitory memory storing one or more programs, which, when executed by one or more processors of a device including a display, cause the device to:

• obtain a scene graph as a data structure representing a plurality of objects and an initial set of spatial relationships between respective pairs of the plurality of objects, wherein the plurality of objects includes an objective-effectuator object;
• obtain from the scene graph a plurality of transition couples, wherein each transition couple indicates a transition from respective first set of spatial relationships in the scene graph between respective pairs of the plurality of objects to a respective second set of spatial relationships in the scene graph between respective pairs of the plurality of objects;
• display, on the display, a representation of the objective-effectuator object in association with other objects of the plurality of objects in an environment having the initial set of spatial relationships in the scene graph;
• obtain an objective indicative of a particular spatial relationship in the scene graph between a first object of the plurality of objects and a second object of the plurality of objects;
• identify a set of transition couples of the plurality of transition couples in the scene graph, wherein each spatial relationship of the respective first set of spatial relationships indicated by each transition couple of the set of transition couples in the scene graph is included in the initial set of spatial relationships or the respective second set of spatial relationships indicated by a previous transition couple in the scene graph and wherein the particular spatial relationship in the scene graph is included in the respective second set of spatial relationships of a last transition couple of the set of transition couples in the scene graph;
• display a representation of the objective-effectuator object in association with other objects of the plurality of objects in the environment having the respective second set of spatial relationships of each transition couple of the set of transition couples in the scene graph;
• fail to identify a set of transition couples of a first portion of the plurality of transition couples in the scene graph, wherein each spatial relationship of the respective first set of spatial relationships indicated by each transition couple of the set of transition couples in the scene graph is included in the initial set of spatial relationships or the respective second set of spatial relationships indicated by a previous transition couple in the scene graph and wherein the particular spatial relationship in the scene graph is included in the respective second set of spatial relationships of a last transition couple of the set of transition couples in the scene graph;
• and
• in response to failing to identify the set of transition couples of the first portion of the plurality of transition couples in the scene graph, obtain a second portion of the plurality of transition couples in the scene graph.