	US 12,229,331 B2
	Six degree of freedom tracking with scale recovery and obstacle avoidance
Jeffrey Roger Powers, San Francisco, CA (US); Vikas Reddy, Boulder, CO (US); and Yuping Lin, Boulder, CO (US)
Assigned to XRPro, LLC, Boulder, CO (US)
Filed by XRPRO, LLC, Boulder, CO (US)
Filed on Oct. 14, 2022, as Appl. No. 18/046,636.
Application 17/073,550 is a division of application No. 15/994,448, filed on May 31, 2018, granted, now 10,809,795, issued on Oct. 20, 2020.
Application 18/046,636 is a continuation of application No. 17/073,550, filed on Oct. 19, 2020, granted, now 11,481,024.
Claims priority of provisional application 62/516,183, filed on Jun. 7, 2017.
Claims priority of provisional application 62/512,779, filed on May 31, 2017.
Prior Publication US 2023/0116849 A1, Apr. 13, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 15/00 (2011.01); G06F 3/01 (2006.01); G06F 3/0346 (2013.01); G06T 7/13 (2017.01); G06T 7/181 (2017.01); G06T 7/50 (2017.01); G06T 7/73 (2017.01); G06T 7/90 (2017.01); G06T 19/00 (2011.01); G06T 19/20 (2011.01)

CPC G06F 3/011 (2013.01) [G06F 3/0346 (2013.01); G06T 7/13 (2017.01); G06T 7/181 (2017.01); G06T 7/50 (2017.01); G06T 7/73 (2017.01); G06T 7/90 (2017.01); G06T 19/006 (2013.01); G06T 19/20 (2013.01); G06T 2207/10024 (2013.01); G06T 2219/2004 (2013.01)]

20 Claims

1. A method comprising:

presenting, on a display of a virtual reality or mixed reality system, a virtual scene to a user;

detecting an edge of a physical object within a physical environment from one or more images captured by the virtual reality or mixed reality system, the physical object excluded from the virtual scene;

determining a six degree of freedom pose associated with a user;

determining the user is within a threshold distance from the physical object; and

determining a field of view of the user based at least in part on the six degree of freedom pose of the user;

determining the edge is not within the field of view; and

displaying the edge of the physical object and an indicator of the edge of the physical object within a field of view of the user within the virtual scene being presented to the user.