Abstract: Various implementations disclosed herein include devices, systems, and methods that facilitate the creation of a 3D model for object detection based on a scan of the object. Some implementations provide a user interface that a user interacts with to facilitate a scan of an object to create 3D model of the object for later object detection. The user interface may include an indicator that provides visual or audible feedback to the user indicating the direction that the capturing device is facing relative to the object being scanned. The direction of the capture device may be identified using sensors on the device (e.g., inertial measurement unit (IMU), gyroscope, etc.) or other techniques (e.g., visual inertial odometry (VIO)) and based on the user positioning the device so that the object is in view.

Abstract: Various implementations disclosed herein include devices, systems, and methods that generates a three-dimensional (3D) model based on a selected subset of the images and depth data corresponding to each of the images of the subset. For example, an example process may include acquiring sensor data during movement of the device in a physical environment including an object, the sensor data including images of a physical environment captured via a camera on the device, selecting a subset of the images based on assessing the images with respect to motion-based defects based on device motion and depth data, and generating a 3D model of the object based on the selected subset of the images and depth data corresponding to each of the images of the selected subset.