US 12,223,581 B2
Simulation of cloud data for machine learning training
Kevin Balkoski, San Mateo, CA (US); and Eleanor Crane, Sunnyvale, CA (US)
Assigned to Matterport, Inc., Sunnyvale, CA (US)
Filed by Matterport, Inc., Sunnyvale, CA (US)
Filed on Sep. 28, 2022, as Appl. No. 17/936,363.
Claims priority of provisional application 63/249,566, filed on Sep. 28, 2021.
Prior Publication US 2023/0098138 A1, Mar. 30, 2023
Int. Cl. G06T 15/06 (2011.01); G01S 7/48 (2006.01); G06F 18/214 (2023.01)
CPC G06T 15/06 (2013.01) [G06F 18/214 (2023.01); G01S 7/4802 (2013.01); G06T 2210/56 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A method comprising:
simulating an environment including at least one simulated object, a simulated ray source, and a simulated receiver;
simulating a plurality of rays emitting from the simulated ray source within the environment, wherein simulating the plurality of rays emitting from the simulated ray source within the environment comprises:
retrieving a range of directions and a range of wavelengths from the simulated ray source, the range of directions being a property of the simulated ray source, the range of wavelengths being a property of the simulated ray source;
determining a particular direction for each ray of the plurality of rays randomly from the range of directions;
determining a particular wavelength for each ray of the plurality of rays randomly from the range of wavelengths;
emitting each of the plurality of rays from the particular direction of the simulated ray source in the environment; and
emitting each of the plurality of rays at the particular wavelength from the simulated ray source in the environment;
tracking each ray of the plurality of rays in the environment;
detecting changes for at least one ray that interacts with the at least one simulated object, the changes for the at least one ray including a reflection of at least part of the ray from the at least one simulated object;
tracking the reflection of the at least part of the ray from the at least one simulated object in the environment;
determining measurements for any of the plurality of rays that interact with the simulated receiver in the simulation, the at least part of the ray being received by the receiver, the measurements including intensity for any of the plurality of rays that interact with the receiver; and
generating synthetic point cloud data based on the measurements.