Large scale dense mapping
US10134182B1 · kind B1 · utility
Assignee
Inventor
Key dates
| Filing date | Jun 23, 2016 |
| Grant date | Nov 20, 2018 |
| Priority date | — |
| Expiry date | Jul 3, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V20/64
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A large scale dense mapping technique utilizes range data that identifies points in three dimensions. The large scale dense mapping technique utilizes the range data obtained from range sensors coupled with a depth integration technique. After dividing the world, or a portion of the world, into cells and voxels, a mapping system collects range data for a portion of the environment. To speed up the processing involving the large number range measurements, Graphics Processing Unit (GPU) memory, can be used to store data relating to the mapping of the environment. Instead of storing all of the cells of volumetric representation in the memory, just the portion of the cells associated with the range data are stored within the memory. The mapping system can use an SDF or a TSDF based volumetric representation format to represent the environment. The SDF or TSDF based volumetric representation is updated using the range data.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.