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

Claim 0:
1. 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;
identifying one or more planar surfaces based on the plurality of feature points;
computing, at the electronic device, a plurality of oriented point vectors associated with the 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; and
generating a floor plan of the environment proximate the electronic device based on one or more of the plurality of oriented point vectors corresponding to vertical planar surfaces.