US 11,915,375 B2
Systems, methods, and media for detecting object-free space
Alexandru-Eugen Ichim, Zurich (CH); Matthew James Alderman, Redmond, WA (US); Alexander Sorkine Hornung, Zurich (CH); Manuel Werlberger, Zurich (CH); Gaurav Chaurasia, Zurich (CH); and Jan Oberländer, Binningen (CH)
Assigned to Meta Platforms Technologies, LLC, Menlo Park, CA (US)
Filed by Meta Platforms Technologies, LLC, Menlo Park, CA (US)
Filed on Feb. 8, 2023, as Appl. No. 18/166,075.
Application 18/166,075 is a continuation of application No. 16/773,886, filed on Jan. 27, 2020, granted, now 11,605,201.
Prior Publication US 2023/0186568 A1, Jun. 15, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 19/00 (2011.01); G06T 7/593 (2017.01)
CPC G06T 19/003 (2013.01) [G06T 7/593 (2017.01); G06T 2207/10012 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising, by a computing system:
dividing at least a portion of a physical space surrounding a user into a plurality of three-dimensional (3D) regions, wherein each of the 3D regions is associated with an area of a plurality of areas in a plane;
generating estimated locations of features of objects in the portion of the physical space;
identifying a region of the physical space corresponding to a ceiling of the physical space, wherein the region is a horizontal portion starting from the ceiling to a predetermined threshold distance below the ceiling;
filtering the estimated locations by removing one or more of the estimated locations that are located within the identified region;
determining, based on the filtered estimated locations, an occupancy state of each of the plurality of 3D regions; and
generating, based on the occupancy state of each of the plurality of 3D regions, a visual indication for guiding movements of the user.