Synthetic aperture radar for head mounted displays

A computing system comprising:

• a user wearable device comprising a first radar array configured to perform elevation mapping of a three-dimensional environment and a second radar array configured to perform azimuthal mapping of the three-dimensional environment, each radar array comprising one or more transmitters configured to transmit a signal and a plurality of receivers configured to receive the signal transmitted by the one or more transmitters;
• one or more processors;
• and
• one or more hardware storage devices storing one or more computer-executable instructions that are executable by the one or more processors to configure the computing system to:
• divide the three-dimensional environment into a plurality of voxels at a default voxel size where each voxel of the plurality of voxels comprises the default voxel size;
• detect at least one triggering condition configured to cause the computing system to dynamically modify the default voxel size used to divide the three-dimensional environment, wherein the triggering condition comprises a detected movement of the first or second radar arrays;
• based on detecting the triggering condition, dynamically update at least a sub-set of voxels of the plurality of voxels dividing the three-dimensional environment to a new voxel size such that the sub-set of voxels of the plurality of voxels dividing the three-dimensional environment comprises the new voxel size, wherein dynamically updating at least the sub-set of voxels of the plurality of voxels in the map of the three-dimensional environment to the new voxel size comprises refraining from dynamically updating one or more remaining voxels of the plurality of voxels to the new voxel size such that, after dynamically updating at least the sub-set of voxels of the plurality of voxels in the map of the three-dimensional environment to the new voxel size, the plurality of voxels includes (i) the sub-set voxels comprising the new voxel size and (ii) the one or more remaining voxels comprising the default voxel size;
• select a plurality of signal waveforms to be transmitted by the one or more transmitters;
• for each voxel of the plurality of voxels and each signal waveform of the plurality of signal waveforms, compute a received signal waveform initially transmitted by one or more transmitters and received from a reflector simulated to be at a location of a particular voxel by two or more receivers from the plurality of receivers;
• based on one or more received signal waveforms, generate a two-dimensional map that represents the three-dimensional environment;
• and
• identify and exclude one or more artifacts occurring in the two-dimensional map of the three-dimensional environment.

A computing system comprising:

• a user wearable device comprising a first radar array configured to perform elevation mapping of a three-dimensional environment and a second radar array configured to perform azimuthal mapping of the three-dimensional environment, each radar array comprising one or more transmitters configured to transmit a signal and a plurality of receivers configured to receive the signal transmitted by the one or more transmitters;
• one or more processors;
• and
• one or more hardware storage devices storing one or more computer-executable instructions that are executable by the one or more processors to configure the computing system to:
• map a three-dimensional environment into a plurality of voxels according to a default voxel size such that the three-dimensional environment is divided into the plurality of voxels where each voxel of the plurality of voxels comprises the default voxel size;
• detect at least one triggering condition configured to cause the computing system to dynamically modify the default voxel size used to map the three-dimensional environment, wherein the triggering condition comprises a detected movement of the first and second radar arrays;
• based on detecting the triggering condition, dynamically update at least a sub-set of voxels of the plurality of voxels in the map of the three-dimensional environment to a decreased voxel size such that the sub-set of voxels of the plurality of voxels in the map of the three-dimensional environment comprises the decreased voxel size, wherein dynamically updating at least the sub-set of voxels of the plurality of voxels in the map of the three-dimensional environment to the decreased voxel size comprises refraining from dynamically updating one or more remaining voxels of the plurality of voxels to the decreased voxel size such that, after dynamically updating at least the sub-set of voxels of the plurality of voxels in the map of the three-dimensional environment to the decreased voxel size, the plurality of voxels includes (i) the sub-set voxels comprising the decreased voxel size and (ii) the one or more remaining voxels comprising the default voxel size;
• select a set of signal waveforms to be transmitted by one or more transmitters;
• for each voxel of the sub-set of voxels of the plurality of voxels and each signal waveform of the set of signal waveforms, compute a received signal waveform initially transmitted by at least one transmitter and subsequently received by the one or more receivers from the plurality of receivers after being reflected back from a reflector simulated to be located within at least one voxel included in the sub-set of voxels;
• and
• based on a plurality of received signal waveforms associated with each voxel and each signal waveform combination, generate one or more two-dimensional maps that represent one or more cross-sections of the three-dimensional environment.