Caching and updating of dense 3D reconstruction data
A method to efficiently update and manage outputs of real time or offline 3D reconstruction and scanning in a mobile device having limited resource and connection to the Internet is provided. The method makes available to a wide variety of mobile XR applications fresh, accurate and comprehensive 3D reconstruction data, in either single user applications or multi-user applications sharing and updating the same 3D reconstruction data. The method includes a block-based 3D data representation that allows local update and maintains neighbor consistency at the same time, and a multi-layer caching mechanism that retrieves, prefetches, and stores 3D data efficiently for XR applications. Altitude information, which may be expressed as a building floor for indoor environments, may be associated with sparse and/or dense representations of the physical world, to increase the accuracy of localization results and/or in rendering virtual content more realistically.
1. A portable electronic system comprising:
at least one sensor configured to capture three-dimensional (3D) information about objects in a physical world;
local memory storing computer executable instructions;
a transceiver configured for communication over a computer network with remote memory; and
a processor communicatively coupled to the at least one sensor, the local memory, and the transceiver, wherein the processor executes the computer executable instructions to provide a 3D representation of a portion of the physical world based at least in part on the 3D information about the objects in the physical world, wherein:
the 3D representation of the portion of the physical world comprises a plurality of blocks, each block including values representing objects in a region of the portion of the physical world at a corresponding point in time and indicating a floor; and
the computer executable instructions comprise instructions for:
identifying a subset of the plurality of blocks corresponding to incoming sensor-captured information,
generating a new version of a block of the subset of the plurality of blocks based on a comparison between the incoming sensor-captured information and the subset of the plurality of blocks, and
rendering a virtual object based on the new version of the block and its adjacent blocks of the subset.
2. The portable electronic system of claim 1 , wherein the values indicating the floors of the blocks are determined based at least in part on the 3D information about objects in the physical world.
3. The portable electronic system of claim 2 , wherein the at least one sensor comprises image sensors.
4. The portable electronic system of claim 1 , wherein at least a portion of the at least one sensor is configured to provide at least a portion of the incoming sensor-captured information that a location of the portable electronic system is determined based at least in part on.
5. The portable electronic system of claim 4 , wherein the location of the portable electronic system is of varying degrees of granularity.
6. The portable electronic system of claim 4 , wherein the location of the portable electronic system comprises the values indicating the floors of corresponding blocks.
7. The portable electronic system of claim 1 further comprising:
one or more of magnetometers, altimeters, and GPS sensors configured to provide at least a portion of the incoming sensor-captured information.
8. The portable electronic system of claim 7 , wherein the values indicating the floors of the blocks are determined based at least in part on data captured by the one or more of magnetometers, altimeters, and GPS sensors.
9. The portable electronic system of claim 7 , wherein a location of the portable electronic system is determined based at least in part on data captured by the one or more of magnetometers, altimeters, and GPS sensors.
10. The portable electronic system of claim 9 , wherein the location of the portable electronic system is of varying degrees of granularity.
11. A method of operating a portable electronic system, the method comprising:
with at least one sensor, capturing sensor information about a physical world; and
with at least one processor:
processing the sensor information to:
produce a representation of a portion of the physical world proximate the portable electronic device, the representation of the portion of the physical world comprising a plurality of blocks, each block including values representing objects in a region of the portion of the physical world at a corresponding point in time;
associate altitude information with the portion of the physical world;
generate a new version of a block of the plurality of blocks based on a comparison between incoming sensor-captured information and the plurality of blocks; and
render a virtual object based on the new version of the block and its adjacent blocks of the plurality of blocks.
12. The method of claim 11 , wherein the altitude information comprises an identifier of a floor of a building.
13. The method of claim 12 , wherein associating altitude information with the portion of the physical world comprises processing an output of a visual sensor to detect an indicator of the floor.
14. The method of claim 12 , wherein associating altitude information with the portion of the physical world comprises tracking changes in floor.
15. The method of claim 12 , wherein tracking changes in floor comprises processing visual images to detect traversal of a stairway or escalator.
16. The method of claim 11 , wherein the representation of the portion of the physical world is a sparse representation.
17. The method of claim 16 , further comprising:
sending a localization request (a) based on the representation of the portion of the physical world; and (b) including the altitude information.
18. The method of claim 11 , wherein the representation of the portion of the physical world is a first portion of a dense representation.
19. The method of claim 18 , wherein:
the dense representation comprises a plurality of portions, including the first portion, each portion comprising associated altitude information; and
the method further comprises performing occlusion processing based on the plurality of portions, the occlusion processing comprising ordering surface information in portions of the plurality of portions based on the altitude information associated with the respective portions.
20. A non-transitory computer-readable medium with instructions stored thereon, that when executed on a processor, perform the acts comprising:
processing sensor information about a physical world to:
produce a representation of a portion of the physical world proximate a portable electronic device, the representation of the portion of the physical world comprising a plurality of blocks, each block including values representing objects in a region of the portion of the physical world at a corresponding point in time;
associate altitude information with the portion of the physical world;
generate a new version of a block of the plurality of blocks based on a comparison between incoming sensor information and the plurality of blocks; and
render a virtual object based on the new version of the block and its adjacent blocks of the plurality of blocks.