Automatic Boundary for an Artificial Reality Environment

for artificial reality (xr) applications that need a guardian, aspects of the present disclosure can automatically determine where boundaries should be set in the real-world environment. using a machine learning model, the automatic boundary system can detect the floor plane, then generate a height map of the real-world environment with the floor at zero. the height map can include positive heights (e.g., objects on the floor) and negative heights (e.g., downward leading stairs). the automatic boundary system can then generate a boundary for the area based on the detected heights by: applying thresholds to disregard objects at certain heights, applying thresholds to disregard open areas at certain widths, excluding oddly shaped areas that would constantly trigger the boundary if the user were nearby, etc. the user can further manually adjust the generated boundary in both directions (e.g., bringing it closer or further from the user).