Patent ID: 11928779
Assignee: APPLE INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 14:
15. A device comprising:
a non-transitory computer-readable storage medium; and
one or more processors coupled to the non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium comprises program instructions that, when executed on the one or more processors, cause the device to perform operations comprising:
obtaining depth data of a physical environment using the sensor at a sensor position, the physical environment comprising surfaces;
determining, based on the depth data and determined distances to the surfaces of the physical environment, a plurality of resolutions associated with the obtained depth data;
determining, based on the determined plurality of resolutions, multi-resolution voxels that include at least a first set of voxels that comprises a first resolution and a second set of voxels that comprises a second resolution that is different than the first resolution based on the first set of voxels being positioned at distances within a first distance range of the sensor position and the second set of voxels being positioned at distances within a second distance range of the sensor position; and
generating a single mesh of different resolutions by positioning vertices along a line connecting a first voxel of the first set of voxels corresponding to the first resolution with a second voxel of the second set of voxels corresponding to the second resolution, wherein the single mesh is generated directly from the multi-resolution voxels.