CPC G06T 17/20 (2013.01) [G06T 3/4007 (2013.01); G06T 2200/04 (2013.01)] | 20 Claims |
1. A method comprising:
at an electronic device having a processor and a sensor:
obtaining depth data of a physical environment using the sensor at a sensor position, the physical environment comprising surfaces;
determining, based on the depth data and determined distances to the surfaces of the physical environment, a plurality of resolutions associated with the obtained depth data;
determining, based on the determined plurality of resolutions, multi-resolution voxels that include at least a first set of voxels that comprises a first resolution and a second set of voxels that comprises a second resolution that is different than the first resolution based on the first set of voxels being positioned at distances within a first distance range of the sensor position and the second set of voxels being positioned at distances within a second distance range of the sensor position; and
generating a single mesh of different resolutions by positioning vertices along a line connecting a first voxel of the first set of voxels corresponding to the first resolution with a second voxel of the second set of voxels corresponding to the second resolution, wherein the single mesh is generated directly from the multi-resolution voxels.
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