Boundary detection using vision-based feature mapping

Abstract

A system configured to determine one or more boundaries of the space, for example, in 3D applications. In some cases, the system may generate point data including a set of safe points in a space and a set of unsafe points in the space, the space surrounding a user device of the system, generate a triangulation over a union of the set of safe points and the set of unsafe points, determine triangles of the triangulation that include at least one safe point and determine edges of determined triangles which are part of a single triangle that include at least one safe point. The system may then determine one or more boundaries of the space using the determined edges.

What is claimed is: 
     
         1 . A system comprising:
 one or more processors;   non-transitory computer-readable media storing computer-executable instructions, which when executed by the one or more processors cause the one or more processors to:   generate point data including a set of safe points in a space and a set of unsafe points in the space, the space surrounding a user device of the system;   generate a triangulation over a union of the set of safe points and the set of unsafe points;   determine triangles of the triangulation that include at least one safe point;   determine edges of determined triangles which are part of a single triangle that includes at least one safe point; and   determine one or more boundaries of the space using the determined edges.