US 12,112,446 B1 · Object correction using scene graphs

Abstract

Various implementations disclosed herein include devices, systems, and methods that uses object relationships represented in the scene graph to adjust the position of objects. For example, an example process may include obtaining a three-dimensional (3D) representation of a physical environment that was generated based on sensor data obtained during a scanning process, detecting positions of a set of objects in the physical environment based on the 3D representation, generating a scene graph for the 3D representation of the physical environment based on the detected positions of the set of objects, wherein the scene graph represents the set of objects and relationships between the objects, and determining a refined 3D representation of the physical environment by refining the position of at least one object in the set of objects based on the scene graph and an alignment rule associated with a relationship in the scene graph.

Claims20

Dependent claims

A method comprising:

at an electronic device having a processor:
obtaining a three-dimensional (3D) representation of a physical environment that was generated based on sensor data obtained during a scanning process;
detecting positions of a set of objects in the physical environment based on the 3D representation;
generating an object relationship model for the 3D representation of the physical environment based on the detected positions of the set of objects and the sensor data, wherein the object relationship model represents the set of objects and relationships between the objects;
and
determining a refined 3D representation of the physical environment by refining the position of at least one object in the set of objects based on the object relationship model and an alignment rule associated with a relationship in the object relationship model.

3 more elements

A device comprising:

a non-transitory computer-readable storage medium;
and
one or more processors coupled to the non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium comprises program instructions that, when executed on the one or more processors, cause the one or more processors to perform operations comprising:
obtaining a three-dimensional (3D) representation of a physical environment that was generated based on sensor data obtained during a scanning process;
detecting positions of a set of objects in the physical environment based on the 3D representation;
generating an object relationship model for the 3D representation of the physical environment based on the detected positions of the set of objects and the sensor data, wherein the object relationship model represents the set of objects and relationships between the objects;
and
determining a refined 3D representation of the physical environment by refining the position of at least one object in the set of objects based on the object relationship model and an alignment rule associated with a relationship in the object relationship model.

5 more elements

Dependencies are inferred from the claim text.

Object correction using scene graphs

Life of this patent

Object correction using scene graphs

Life of this patent

Abstract

Claims20