US Patent 11195320 Feed-forward collision avoidance for artificial reality environments

An artificial reality system includes a head mounted display (HMD) and a physical overlay engine that generates overlay image data, referred to herein as a physical overlay image, corresponding to the physical objects in a three-dimensional (3D) environment. In response to an activation condition, a rendering engine of the artificial reality system renders the overlay image data to overlay artificial reality content for display on the HMD, thereby apprising a user of the HMD of their position with respect to the physical objects in the 3D environment.