US 11,741,620 B1
Plane detection using depth sensor and semantic information
Seongdo Kim, Santa Clara, CA (US)
Assigned to Apple Inc., Cupertino, CA (US)
Filed by Apple Inc., Cupertino, CA (US)
Filed on Jan. 20, 2021, as Appl. No. 17/152,900.
Claims priority of provisional application 62/965,226, filed on Jan. 24, 2020.
Int. Cl. G06K 9/00 (2022.01); G06T 7/50 (2017.01)
CPC G06T 7/50 (2017.01) [G06T 2207/10028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
at an electronic device having a processor:
obtaining depth points from depth sensors, the depth points corresponding to distances of portions of a physical environment from the depth sensors;
identifying a subset of the depth points corresponding to a planar region based on positions of the depth sensors corresponding to the depth points of the subset; and
expanding the planar region to include an additional depth point or an additional planar region based on expansion criteria used to determine that the additional depth point or the additional planar region are on a same plane as the planar region, the expansion criteria requiring that the additional depth point or the additional planar region be within a predetermined distance of the planar region.