Room-Specific 3D Meshing for Multi-Room SLAM Drift
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Solution Overview
Problem
Existing scanning systems struggle to accurately generate three-dimensional representations of physical environments, particularly in multi-room settings, due to issues like wall collisions, SLAM drift, and inefficient meshing processes.
Innovation Solution
The system employs room-specific meshing and plane generation techniques, using keyframe clustering and selective use of sensor data to create precise 3D floor plans by associating geometric representations with individual rooms, and limiting data access to applications based on room boundaries.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single unified 3D representation is generated for the entire physical environment, then the overall structural integrity is maintained, but mesh collisions and inaccuracies occur at room boundaries due to SLAM drift
Solution Approach 1:
The patent divides the physical environment into multiple room-specific 3D representations (meshes and planes) separated by room boundaries. Each room is processed independently with its own keyframes and geometric representations, preventing mesh collisions at boundaries while maintaining overall structural integrity through the room boundary graph.
Solution Approach 2:
The patent introduces room boundaries as intermediary structures that separate and organize different 3D representations. These boundaries act as mediators between rooms, preventing direct mesh collisions while maintaining spatial relationships through the graph structure that connects room boundaries to 3D representations.
2Productivity
If all sensor data is used to generate geometric representations, then comprehensive coverage is achieved, but processing efficiency decreases and privacy concerns arise
Solution Approach 1:
The patent segments sensor data into room-specific subsets based on room boundaries and keyframe clustering. Each room processes only its relevant sensor data independently, significantly reducing the volume of data processed simultaneously and improving processing efficiency while maintaining comprehensive coverage through the complete graph structure.
Solution Approach 2:
The patent applies local quality by processing and storing only the sensor data and geometric representations relevant to each specific room. This allows optimized processing for each room's unique characteristics while reducing overall computational load through parallel processing of independent room representations.
3Stability of the object's composition
If mesh representations span multiple rooms, then continuity is maintained, but alignment accuracy decreases due to cumulative SLAM drift
Solution Approach 1:
The patent segments continuous 3D representations into discrete room-specific meshes and planes bounded by room boundaries. This segmentation prevents the propagation of SLAM drift across room boundaries while maintaining continuity through the graph structure that connects these segmented representations via precise boundary relationships.
Solution Approach 2:
The patent uses room boundaries as intermediary reference frames that anchor each room's 3D representation independently. These boundaries serve as mediators that maintain alignment precision within each room while allowing controlled transitions between rooms through the graph connections, eliminating cumulative drift effects.
4Adaptability or versatility
If comprehensive environmental data is made accessible to applications, then functionality is enhanced, but user privacy is compromised
Solution Approach 1:
The patent segments environmental data into room-specific representations and controls access at the room boundary level. Applications can query and process only the data relevant to their current location or function, significantly reducing privacy exposure while maintaining full functionality through the graph structure that enables targeted data retrieval.
Solution Approach 2:
The patent implements local quality in data access by allowing applications to access only the specific room data relevant to their operation. This creates a privacy-preserving architecture where data accessibility is optimized for each room's local needs while preventing unnecessary exposure of other room data.
Data Source
AI summary
Various implementations provide one or more geometric representations of a physical environment based on room-specific subsets of the sensor data. For example, a method may include obtaining sensor data of a physical environment that includes a plurality of rooms, and the sensor data includes images of the physical environment. The method may further include obtaining room boundary information associated with the physical environment, wherein the room boundary information is determined based on the sensor data. The method may further include identifying room-specific subsets of the sensor data based on the room boundary information. The method may further include generating one or more geometric representations of the physical environment based on the room-specific subsets of the sensor data.