US 12,299,815 B2
Systems, methods, and media for filtering points of a point cloud utilizing visibility factors to generate a model of a scene
Cyril Novel, Paris (FR); Jean-Philippe Pons, Le Rouret (FR); and Luc Robert, Valbonne (FR)
Assigned to Bentley Systems, Incorporated, Exton, PA (US)
Filed by Bentley Systems, Incorporated, Exton, PA (US)
Filed on Nov. 8, 2022, as Appl. No. 17/982,798.
Prior Publication US 2024/0153207 A1, May 9, 2024
Int. Cl. G06T 17/00 (2006.01); G06T 15/06 (2011.01); G06T 19/20 (2011.01)
CPC G06T 17/005 (2013.01) [G06T 15/06 (2013.01); G06T 19/20 (2013.01); G06T 2210/12 (2013.01); G06T 2210/21 (2013.01); G06T 2210/56 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A system comprising:
a processor coupled to a memory, the processor configured to:
generate (1) a first sample for each of a plurality of first points of a first point cloud generated by one or more first sources and (2) a second sample for each of a plurality of second points of a second point cloud generated by one or more second sources, wherein each first point and each second point has a visibility value;
create a visibility ray between (1) each first point and the one or more first sources to generate a plurality of first visibility rays and (2) each second point and the one or more second sources to generate a plurality of second visibility rays;
identify one or more selected second samples that intersect one or more of the first visibility rays, wherein the one or more selected second samples correspond to one or more selected second points;
adjust the visibility value for a particular second point, of the one or more selected second points, when each of the plurality of first points of the first point cloud is not within a threshold distance of the particular second point of the second point cloud; and
maintain the visibility value for the particular second point, of the one or more selected second points, at a current value when at least one first point, of the plurality of first point of the first point cloud, is within the threshold distance of the particular second point of the second point cloud, wherein the visibility value is utilized to differentiate between an unwanted physical with object and a permanent physical object.