Patent ID: 11935286
Assignee: GOOGLE LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 13:
14. A method, comprising:
identifying, at an electronic device by performing raycasting, a plurality of feature points of an environment proximate the electronic device based on imagery captured at the electronic device and based on received non-visual pose information obtained from non-visual sensors, the raycasting projecting rays into the electronic device's view of the environment and returning feature points that the rays intersect, along with the pose of that intersection in world space, to determine whether a perceived plane passes through the feature points at the intersection of the rays, the raycasting resolving whether a ray along the normal from a screen of the electronic device returns a planar surface;
computing, at the electronic device, a plurality of oriented point vectors associated with one or more planar surfaces, comprising determining a surface normal to each of the identified plurality of feature points;
detecting a vertical planar surface within the one or more planar surfaces based at least in part on one or more of the plurality of oriented point vectors being aligned in a direction perpendicular to gravity within a predetermined threshold;
displaying, at a display of the electronic device, a user prompt requesting confirmation that the detected vertical planar surface corresponds to a wall position to be added to a floor plan; and
in response to receiving a user confirmation, adding a wall to the floor plan at the wall position.