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 |
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.
|