公开(公告)号：US20210225074A1

公开(公告)日：2021-07-22

申请号：US17147559

申请日：2021-01-13

Applicant: Apple Inc.

Inventor： Maxime Meilland ,  Andrew Predoehl ,  Kyle L. Simek ,  Ming Chuang ,  Pedro A. Pinies Rodriguez

IPC: G06T17/20 ,  G06T3/40

Abstract: Various implementations disclosed herein generate a mesh representing the surfaces in a physical environment. The mesh is generated using multi-resolution voxels based on detected depth information, e.g., from a depth camera. The techniques may use multiple hash tables to store the multi-resolution voxel data. For example, the hash tables may store each voxel's 3D position and a truncated signed distance field (TSDF) value corresponding to each voxels' distance to a nearest surface. Each of the multiple hash tables may include data corresponding to a different level of resolution and those resolutions may depend upon distance/noise or other factors. For example, voxels close to a depth camera may have a finer resolution and smaller size compared to voxels that are further from the depth camera. Techniques disclosed herein may involve using a meshing algorithm that combines multi-resolution voxel information stored in multiple hash tables to generate a single mesh.

公开(公告)号：US20220237872A1

公开(公告)日：2022-07-28

申请号：US17717393

申请日：2022-04-11

Applicant: Apple Inc.

Inventor： Maxine Meilland ,  Andrew Predoehl ,  Kyle L. Simek ,  Ming Chuang ,  Pedro A. Pinies Rodriguez

IPC: G06T17/20 ,  G06T3/40

Abstract: Various implementations disclosed herein generate a mesh representing the surfaces in a physical environment. The mesh is generated using multi-resolution voxels based on detected depth information, e.g., from a depth camera. The techniques may use multiple hash tables to store the multi-resolution voxel data. For example, the hash tables may store each voxel's 3D position and a truncated signed distance field (TSDF) value corresponding to each voxels' distance to a nearest surface. Each of the multiple hash tables may include data corresponding to a different level of resolution and those resolutions may depend upon distance/noise or other factors. For example, voxels close to a depth camera may have a finer resolution and smaller size compared to voxels that are further from the depth camera. Techniques disclosed herein may involve using a meshing algorithm that combines multi-resolution voxel information stored in multiple hash tables to generate a single mesh.

公开(公告)号：US11328481B2

公开(公告)日：2022-05-10

申请号：US17147559

申请日：2021-01-13

Applicant: Apple Inc.

Inventor： Maxime Meilland ,  Andrew Predoehl ,  Kyle L. Simek ,  Ming Chuang ,  Pedro A. Pinies Rodriguez

IPC: G06T17/20 ,  G06T3/40

Abstract: Various implementations disclosed herein generate a mesh representing the surfaces in a physical environment. The mesh is generated using multi-resolution voxels based on detected depth information, e.g., from a depth camera. The techniques may use multiple hash tables to store the multi-resolution voxel data. For example, the hash tables may store each voxel's 3D position and a truncated signed distance field (TSDF) value corresponding to each voxels' distance to a nearest surface. Each of the multiple hash tables may include data corresponding to a different level of resolution and those resolutions may depend upon distance/noise or other factors. For example, voxels close to a depth camera may have a finer resolution and smaller size compared to voxels that are further from the depth camera. Techniques disclosed herein may involve using a meshing algorithm that combines multi-resolution voxel information stored in multiple hash tables to generate a single mesh.

公开(公告)号：US11928779B2

公开(公告)日：2024-03-12

申请号：US17717393

申请日：2022-04-11

Applicant: Apple Inc.

Inventor： Maxime Meilland ,  Andrew Predoehl ,  Kyle L. Simek ,  Ming Chuang ,  Pedro A. Pinies Rodriguez

IPC: G06T17/20

CPC classification number: G06T17/20 ,  G06T3/4007 ,  G06T2200/04

Abstract: Various implementations disclosed herein generate a mesh representing the surfaces in a physical environment. The mesh is generated using multi-resolution voxels based on detected depth information, e.g., from a depth camera. The techniques may use multiple hash tables to store the multi-resolution voxel data. For example, the hash tables may store each voxel's 3D position and a truncated signed distance field (TSDF) value corresponding to each voxels' distance to a nearest surface. Each of the multiple hash tables may include data corresponding to a different level of resolution and those resolutions may depend upon distance/noise or other factors. For example, voxels close to a depth camera may have a finer resolution and smaller size compared to voxels that are further from the depth camera. Techniques disclosed herein may involve using a meshing algorithm that combines multi-resolution voxel information stored in multiple hash tables to generate a single mesh.