US 11,734,897 B2
System and method for dense, large scale scene reconstruction
Jeffrey Roger Powers, San Francisco, CA (US); Nicolas Burrus, Madrid (ES); Yuping Lin, Boulder, CO (US); and Paul Schroeder, Boulder, CO (US)
Assigned to Occipital, Inc., Boulder, CO (US)
Filed by Occipital, Inc., Boulder, CO (US)
Filed on Jul. 1, 2021, as Appl. No. 17/365,226.
Application 17/365,226 is a division of application No. 16/455,923, filed on Jun. 28, 2019, granted, now 11,055,921.
Application 16/455,923 is a division of application No. 15/708,649, filed on Sep. 19, 2017, granted, now 10,339,716, issued on Jul. 2, 2019.
Claims priority of provisional application 62/396,647, filed on Sep. 19, 2016.
Prior Publication US 2021/0327155 A1, Oct. 21, 2021
Int. Cl. G06T 19/00 (2011.01); G06T 7/536 (2017.01); G06T 7/80 (2017.01); G06T 15/20 (2011.01); G06T 17/20 (2006.01)
CPC G06T 19/006 (2013.01) [G06T 7/536 (2017.01); G06T 7/85 (2017.01); G06T 15/205 (2013.01); G06T 17/20 (2013.01); G06T 2215/16 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method comprising:
receiving first image data representative of a physical environment from a device;
accessing a first manifold associated with the physical environment, the first manifold being a two-dimensional array having a first plurality of weighted depth values;
integrating the first image data into the first manifold by updating at least one of the plurality of weighted depth values; and
integrating the first manifold into a first viewpoint bundle associated with the physical environment based at least in part on the first plurality of weighted depth values;
rendering, concurrently with integrating the first image data into the first manifold, a three-dimensional scene on a display of the device base at least in part on a second manifold, the second manifold including a second plurality of weighted depth values and associated with a second viewpoint bundle;
determining a pose distance between a pose associate with the device and a pose associated with the second viewpoint bundle; and
responsive to determine the distance is greater than a predetermined distance:
rendering the three-dimensional scene on the display of the device based at least in part on the first manifold; and
re-initializing the second manifold.