US 12,112,446 B1
Object correction using scene graphs
Angela Blechschmidt, San Jose, CA (US); Daniel Ulbricht, Sunnyvale, CA (US); and Alexander S. Polichroniadis, San Francisco, CA (US)
Assigned to Apple Inc., Cupertino, CA (US)
Filed by Apple Inc., Cupertino, CA (US)
Filed on Aug. 24, 2023, as Appl. No. 18/237,480.
Application 18/237,480 is a continuation of application No. 17/678,544, filed on Feb. 23, 2022, granted, now 11,783,558.
Claims priority of provisional application 63/152,897, filed on Feb. 24, 2021.
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 19/20 (2011.01); G06T 7/70 (2017.01); G06T 17/00 (2006.01); G06V 20/70 (2022.01)
CPC G06T 19/20 (2013.01) [G06T 7/70 (2017.01); G06T 17/00 (2013.01); G06V 20/70 (2022.01); G06T 2207/10028 (2013.01); G06T 2210/61 (2013.01); G06T 2219/2004 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising: at an electronic device having a processor:
obtaining a three-dimensional (3D) representation of a physical environment that was generated based on sensor data obtained during a scanning process;
detecting positions of a set of objects in the physical environment based on the 3D representation;
generating an object relationship model for the 3D representation of the physical environment based on the detected positions of the set of objects and the sensor data, wherein the object relationship model represents the set of objects and relationships between the objects; and
determining a refined 3D representation of the physical environment by refining the position of at least one object in the set of objects based on the object relationship model and an alignment rule associated with a relationship in the object relationship model.