Generating and modifying artificial reality environment using occluded surface at predetermined distance

The invention relates to generating and modifying an artificial reality environment using an occluded surface at a predetermined distance. A method includes generating a depth map of a real environment as seen from a viewpoint, the depth map including pixels having respective depth values of one or more physical objects. A two-dimensional occlusion surface representing at least a visible portion of one or more physical objects located within a predetermined depth range defined relative to the viewpoint is generated based on the depth map. A posture of the two-dimensional obscured surface is set in the three-dimensional coordinate system such that the two-dimensional obscured surface is located at a predetermined distance from the viewpoint. A visibility of the virtual object relative to the one or more physical objects is determined by comparing the model of the virtual object with the two-dimensional occlusion surface, and an output image is generated based on the visibility of the virtual object. 本申请涉及使用在预定