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

Claim 6:
7. An electronic device, comprising:
an imaging camera to capture imagery of an environment proximate the electronic device;
a processor to:
identify a plurality of feature points of the environment by performing raycasting based on imagery captured by the imaging camera and further based on received non-visual pose information obtained from non-visual sensors), the raycasting projecting a ray into the electronic device's view of the environment and returning feature points that the ray intersects, 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 ray, the raycasting resolving whether a ray along the normal from a screen of the electronic device returns a planar surface;
identify one or more planar surfaces based on the plurality of feature points;
compute 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;
detect 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
generate 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.