US 12,223,615 B2
Apparatus and method for approximate trilinear interpolation for scene reconstruction
Vivek De, Beaverton, OR (US); Ram Krishnamurthy, Portland, OR (US); Amit Agarwal, Hillsboro, OR (US); Steven Hsu, Lake Oswego, OR (US); and Monodeep Kar, Atlanta, GA (US)
Assigned to Intel Corporation, Santa Clara, CA (US)
Filed by Intel Corporation, Santa Clara, CA (US)
Filed on Jun. 30, 2020, as Appl. No. 16/917,791.
Prior Publication US 2021/0407039 A1, Dec. 30, 2021
Int. Cl. G06T 3/4007 (2024.01); G06T 7/70 (2017.01); G06T 15/06 (2011.01); G06T 17/20 (2006.01)
CPC G06T 3/4007 (2013.01) [G06T 7/70 (2017.01); G06T 15/06 (2013.01); G06T 17/205 (2013.01); G06T 2207/20021 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A method comprising:
dividing a three-dimensional (3D) space into a voxel grid comprising a plurality of voxels;
associating a plurality of distance values with the plurality of voxels, each distance value based on a distance to a boundary of an object;
selecting a first interpolation mode for stepping a ray through a first one or more voxels of the 3D space responsive to the first one or more voxels having distance values greater than a threshold, wherein stepping the ray through the first one or more voxels in the first interpolation mode comprises performing interpolation of the ray through the first one or more voxels by passing distance values associated with the first one or more voxels through a sign-preserving shift circuit, the sign-preserving shift circuit performs incrementally bit shifting on the distance values, wherein a number of bits in the bit shifting performed on a distance value of the distance values corresponding to a voxel of the first one or more voxels is selected based on a plurality of voxel address fractions of the voxel;
detecting the ray reaching a second one or more voxels having distance values less than the threshold; and
responsively selecting a second interpolation mode that is more precise than the first interpolation mode for stepping the ray through the second one or more voxels.