Systems, Methods, and Media for Visualizing Occluded Physical Objects Reconstructed in Artificial Reality

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

• compute, based on sensor data, estimated depth measurements of at least one physical object in a physical environment surrounding a user;
• generate, based on the estimated depth measurements, a first model of the at least one physical object;
• access a second model of a virtual object;
• render, based on the first model and the second model, an image depicting the physical object and the virtual object from a perspective of the user, wherein:
• at least one pixel of the image has a blended color contributed from respective colors of a corresponding portion of the physical object and a corresponding portion of the virtual object, and
• the blended color is computed in response to a determination that a relative depth measurement between (1) a portion of the first model corresponding to the portion of the physical object and (2) a portion of the second model corresponding to the portion of the virtual object is within a predetermined threshold.

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:
• compute, based on sensor data, estimated depth measurements of at least one physical object in a physical environment surrounding a user;
• generate, based on the estimated depth measurements, a first model of the at least one physical object;
• access a second model of a virtual object;
• render, based on the first model and the second model, an image depicting the physical object and the virtual object from a perspective of the user, wherein:
• at least one pixel of the image has a blended color contributed from respective colors of a corresponding portion of the physical object and a corresponding portion of the virtual object, and
• the blended color is computed in response to a determination that a relative depth measurement between (1) a portion of the first model corresponding to the portion of the physical object and (2) a portion of the second model corresponding to the portion of the virtual object is within a predetermined threshold.