US 12,067,799 B2
Camera environment mapping
Justin Murray, Redmond, WA (US); and Timothy Clifford, Bellevue, WA (US)
Assigned to Microsoft Technology Licensing, LLC, Redmond, WA (US)
Filed by Microsoft Technology Licensing, LLC, Redmond, WA (US)
Filed on Oct. 5, 2020, as Appl. No. 17/063,350.
Application 17/063,350 is a continuation of application No. 16/244,745, filed on Jan. 10, 2019, granted, now 10,832,045.
Prior Publication US 2021/0019510 A1, Jan. 21, 2021
Int. Cl. G06V 40/10 (2022.01); G06T 7/543 (2017.01); G06T 7/73 (2017.01)
CPC G06V 40/103 (2022.01) [G06T 7/543 (2017.01); G06T 7/73 (2017.01)] 19 Claims
OG exemplary drawing
 
1. A device for mapping an environment, the device comprising:
a processor; and
memory, communicatively coupled to the processor, the memory including instructions, which when executed, cause the processor to:
receive a set of frames of video data captured by a camera;
identify an object within the set of frames;
identify, based on a determined structure of the object in at least two frames of the set of frames, an axis of the object, the axis including an endpoint in contact with a surface of the environment;
and
generate, without using extrinsic properties of the camera, a plane map including a plane of a non-living surface of the environment that is captured in the at least two frames of the set of frames, the plane map generated based on, a prespecified height of the object, a first identified location of the endpoint in a first of the at least two frames of the set of frames and a second, different identified location of the endpoint in a second of the at least two frames of the set of frames, the generating of the plane map comprising generating a mathematical description of the plane.