US 11,715,299 B1
Semantic labeling of negative spaces
Mark Drummond, Palo Alto, CA (US); and Payal Jotwani, Santa Clara, CA (US)
Assigned to APPLE INC.
Filed by Apple Inc., Cupertino, CA (US)
Filed on Apr. 5, 2021, as Appl. No. 17/222,577.
Claims priority of provisional application 63/031,927, filed on May 29, 2020.
Int. Cl. G06V 20/20 (2022.01); G06T 19/00 (2011.01)
CPC G06V 20/20 (2022.01) [G06T 19/006 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
at an electronic device including a processor and non-transitory memory:
obtaining a three-dimensional scene model of a physical environment including a plurality of points, wherein each of the plurality of points is associated with a set of coordinates in a three-dimensional space;
defining a subspace in the three-dimensional space with less than a threshold number of the plurality of points;
determining a semantic label for the subspace; and
generating a characterization vector of the subspace, wherein the characterization vector includes the spatial extent of the subspace and the semantic label.