US 11,941,818 B1
Edge locator
Vedant Saran, Campbell, CA (US); and Alexandre Da Veiga, San Francisco, CA (US)
Assigned to Apple Inc., Cupertino, CA (US)
Filed by Apple Inc., Cupertino, CA (US)
Filed on Mar. 3, 2021, as Appl. No. 17/190,969.
Claims priority of provisional application 62/990,511, filed on Mar. 17, 2020.
Int. Cl. G06T 7/13 (2017.01); G06T 7/50 (2017.01); G06T 7/70 (2017.01)
CPC G06T 7/13 (2017.01) [G06T 7/50 (2017.01); G06T 7/70 (2017.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
at a device having a processor:
determining a two-dimensional (2D) location of a line segment corresponding to an edge of an object in a physical environment, the 2D location of the line segment determined based on a light-intensity image of the physical environment;
determining a three-dimensional (3D) location of a plane associated with the edge of the object, the 3D location of the plane determined based on depth values obtained via a depth sensor; and
determining a 3D location of the line segment based on the 3D location of the plane.