# US 2021/0240256 A1 · Systems and Methods for Collision Avoidance in Virtual Environments

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- Number: US 2021/0240256 A1
- Document ID: US20210240256A1
- Status: Published application
- Kind: A1
- Application number: 17/235,526
- Filed: 2021-04-20
- Published: 2021-08-05
- Earliest claimed: 2018-01-22
- Assignees: MassVR, LLC
- Applicants: MassVR, LLC
- Inventors: Chris Lai; Steven Daniels; Cole Coats; Peter Rakhunov; Konrad Ogar; Joseph Bretz
- Web page: https://patentgrep.com/patent/US20210240256A1

## CPC

- G06F 3/011: {Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00)}
- G02B 27/017: {Head mounted}
- G06V 20/20: in augmented reality scenes
- G08B 5/36: using visible light sources
- G08B 6/00: Tactile signalling systems, e.g. tactile personal calling systems
- G08B 7/06: using electric transmission {, e.g. involving audible and visible signalling through the use of sound and light sources}
- G08B 21/18: Status alarms (G08B21/02 takes precedence)
- G02B 2027/0138: {comprising image capture systems, e.g. camera}
- G02B 2027/014: {comprising information/image processing systems}
- G06T 19/20: Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts
- G06T 2210/21: Collision detection, intersection
- G06T 2219/2004: Aligning objects, relative positioning of parts
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G08B: SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

Systems and methods of assisting users in collision avoidance in a virtual reality environment include tracking a location of first and second users in a physical environment; based on the tracked location of each of the users, calculating a collision probability between the first user and the second user in the physical environment; comparing a threshold collision probability to the calculated collision probability; and when the calculated collision probability exceeds the threshold collision probability and the first user avatar visible to the second user and the second user avatar visible to the first user do not visually suggest to each of the first user and the second user a representation of the probability of collision in the physical environment, a collision alert is triggered.

## Claims

### Claim 1

A method of assisting users in collision avoidance in a virtual reality environment in which a first user virtual reality device at least partially obscures a first user's perception of a second user and a second user virtual reality device at least partially obscures a second user's perception of the first user, the method comprising the steps of:
providing a user location tracking system that tracks at least a first user's physical location and a second user's physical location within a physical environment associated with a first user's virtual location and a second user's virtual location within the virtual reality environment, wherein the virtual reality environment uses X, Y, or Z-axis offsets to unbind the scope of the virtual reality environment from the associated physical environment, wherein the size of the virtual reality environment is larger than the associated physical environment in at least one of the X, Y, or Z axes, wherein the X, Y, or Z-axis offsets that unbind the scope of the virtual reality environment from the associated physical environment include at least a first designated origin location that corresponds to a single X, Y, and Z location in the associated physical environment and corresponds to two or more X, Y, and Z locations in the virtual reality environment;
when one of the first user or the second user moves to the first designated origin location in the physical environment, moving the corresponding first user or second user from a first X, Y, and Z location in the virtual reality environment to a second X, Y, and Z location in the virtual reality environment that is offset from the first X, Y, and Z location in the virtual reality environment in one or more of the X, Y, or Z axes altering an initial relationship between the first user's physical location and the first user's virtual location compared to the second user's physical location and the second user's virtual location to an altered relationship between the first user's physical location and a first user's virtual location compared to the second user's physical location and the second user's virtual location, such that when the first user and the second user occupy a single X, Y, and Z location within the physical environment, such that the first user and the second user physically collide, the first user and the second user may occupy two distinct X, Y, and Z locations within the virtual reality environment:
providing on the second user virtual reality device a first user avatar visible to the second user in the virtual reality environment when the X, Y, and Z location and a relative position of the first user and the X, Y, and Z location and a relative position of the second user within the virtual reality environment suggest visual contact would exist within the virtual reality environment between the second user and the first user;
providing on the first user virtual reality device a second user avatar visible to the first user in the virtual reality environment when the X, Y, and Z location and a relative position of the first user and the X, Y, and Z location and a relative position of the second user within the virtual reality environment suggest visual contact would exist within the virtual reality environment between the first user and the second user;
tracking a location of the first user in the physical environment;
tracking a location of the second user in the physical environment;
based on the tracked location of each of the first user and the second user, calculating a collision probability between the first user and the second user in the physical environment;
compare a threshold collision probability to the calculated collision probability;
when the calculated collision probability exceeds the threshold collision probability and the X, Y, and Z location of the first user avatar visible to the second user in the virtual reality environment and the X, Y, and Z location of the second user avatar visible to the first user in the virtual reality environment visually suggest to each of the first user and the second user a representation of the probability of collision in the physical environment, a collision alert is not triggered; and
when the calculated collision probability exceeds the threshold collision probability and the X, Y, and Z location of the first user avatar visible to the second user in the virtual reality environment and the X, Y, and Z location of the second user avatar visible to the first user in the virtual reality environment do not visually suggest to each of the first user and the second user a representation of the probability of collision in the physical environment, the collision alert is triggered.

### Claim 2 (depends on 1)

The method of claim 1 wherein the collision alert is visual.

### Claim 3 (depends on 2)

The method of claim 2 wherein the visual collision alert is text based.

### Claim 4 (depends on 2)

The method of claim 2 wherein the visual collision alert comprises a supplemental avatar.

### Claim 5 (depends on 4)

The method of claim 4 wherein the supplemental avatar is a ghosted version of an avatar.

### Claim 6 (depends on 1)

The method of claim 1 wherein the collision alert is audible.

### Claim 7 (depends on 1)

The method of claim 1 wherein the collision alert is tactile.

### Claim 8 (depends on 7)

The method of claim 7 wherein the tactile collision alert is vibration based.

### Claim 9 (depends on 1)

The method of claim 1 wherein the first user virtual reality device is a head-mounted display.

### Claim 10 (depends on 1)

The method of claim 1 wherein the Z-axis offset enables the first user and the second user to occupy different levels within the virtual reality environment when occupying the same physical location within the physical environment.

### Claim 11

A system of assisting users in collision avoidance in a virtual reality environment comprising:
a first user virtual reality device at least partially obscuring a first user's perception of a second user;
a second user virtual reality device at least partially obscuring a second user's perception of the first user;
a user location tracking system that tracks at least a first user's physical location and a second user's physical location within a physical environment associated with a first user's virtual location and a second user's virtual location within the virtual reality environment, wherein the virtual reality environment uses X, Y, or Z-axis offsets to unbind the scope of the virtual reality environment from the associated physical environment, wherein the size of the virtual reality environment is larger than the associated physical environment in at least one of the X, Y, or Z axes, wherein the X, Y, or Z-axis offsets that unbind the scope of the virtual reality environment from the associated physical environment include at least a first designated origin location that corresponds to a single X, Y, and Z location in the associated physical environment and corresponds to two or more X, Y, and Z locations in the virtual reality environment;
a processor in communication with each of the first user virtual reality device, the second user virtual reality device, and the user location tracking system; and
a memory in communication with the processor, the memory storing program instructions that, when executed by the processor, cause the processor to:
present to each of the first user virtual reality device and the second user virtual reality device the virtual reality environment in which, when one of the first user or the second user moves to the first designated origin location in the physical environment, the corresponding first user or second user moves from a first X, Y, and Z location in the virtual reality environment to a second X, Y, and Z location in the virtual reality environment that is offset from the first X, Y, and Z location in the virtual reality environment in one or more of the X, Y, or Z axes altering an initial relationship between the first user's physical location and the first user's virtual location compared to the second user's physical location and the second user's virtual location to an altered relationship between the first user's physical location and the first user's virtual location compared to the second user's physical location and the second user's virtual location, such that when the first user and the second user occupy a single X, Y, and Z location within the physical environment, such that the first user and the second user physically collide, the first user and the second user may occupy two distinct X, Y, and Z locations within the virtual reality environment;
provide a first user avatar visible to the second user in the virtual reality environment via the second user virtual reality device when the X, Y, and Z location and a relative position of the first user and the X, Y, and Z location and a relative position of the second user within the virtual reality environment suggest visual contact would exist within the virtual reality environment between the second user and the first user;
provide a second user avatar visible to the first user in the virtual reality environment via the first user virtual reality device when the X, Y, and Z location and a relative position of the first user and the X, Y, and Z location and a relative position of the second user within the virtual reality environment suggest visual contact would exist within the virtual reality environment between the first user and the second user;
track a location of the first user in the physical environment via the user location tracking system;
track a location of the second user in the physical environment via the user location tracking system;
based on the tracked location of each of the first user and the second user, calculate a collision probability between the first user and the second user in the physical environment;
compare a threshold collision probability to the calculated collision probability;
when the calculated collision probability exceeds the threshold collision probability and the X, Y, and Z location of the first user avatar visible to the second user in the virtual reality environment and the X, Y, and Z location of the second user avatar visible to the first user in the virtual reality environment visually suggest to each of the first user and the second user a representation of the probability of collision in the physical environment, a collision alert is not triggered; and
when the calculated collision probability exceeds the threshold collision probability and the X, Y, and Z location of the first user avatar visible to the second user in the virtual reality environment and the X, Y, and Z location of the second user avatar visible to the first user in the virtual reality environment do not visually suggest to each of the first user and the second user a representation of the probability of collision in the physical environment, the collision alert is triggered.

### Claim 12 (depends on 11)

The system of claim 11 wherein the collision alert is visual.

### Claim 13 (depends on 12)

The system of claim 12 wherein the visual collision alert is text based.

### Claim 14 (depends on 12)

The system of claim 12 wherein the visual collision alert comprises a supplemental avatar.

### Claim 15 (depends on 12)

The system of claim 12 wherein the visual collision alert signals in an area within a head-mounted display that is within a user's field of view and outside of a virtual reality display area.

### Claim 16 (depends on 11)

The system of claim 11 wherein the collision alert is audible.

### Claim 17 (depends on 11)

The system of claim 11 wherein the collision alert is tactile.

### Claim 18 (depends on 17)

The system of claim 17 wherein the tactile collision alert is vibration based.

### Claim 19 (depends on 11)

The system of claim 11 wherein the first user virtual reality device is a head-mounted display.

### Claim 20 (depends on 11)

The system of claim 11 wherein the Z-axis offset enables the first user and the second user to occupy different levels within the virtual reality environment when occupying the same physical location within the physical environment.