Patent ID: 9471142
Filing Date: 2016-10-18
CPC Classification: G06F,G06T

Claim Text:
1. A method, comprising: receiving first depth data about an environment at a computing device; generating a first point cloud from the first depth data using the computing device; determining a haptic interface point (HIP) using the computing device; determining, using the computing device, a first force vector between the HIP and the first point cloud utilizing a proxy, wherein the proxy is configured to select zero or more points near the proxy, wherein the proxy comprises a center of the proxy and at least three scale radii r1, r2, and r3 with r1<r2≦r3, and wherein determining the first force vector comprises: sending, from the computing device, a first indication of haptic feedback based on the first force vector; receiving second depth data about the environment at the computing device, wherein the second depth data differs from the first depth data; generating a second point cloud from the second depth data using the computing device; determining a second force vector between the HIP and the second point cloud using the computing device; and sending, from the computing device, a second indication of haptic feedback based on the second force vector.