US 12,321,390 B2
So-map: a semantic-aware algorithm for optimizing the representation structure of Octomaps
Werner Spolidoro Freund, Rio de Janeiro (BR); Pablo Nascimento da Silva, Niterói (BR); Vinicius Michel Gottin, Rio de Janeiro (BR); Paulo Abelha Ferreira, Rio de Janeiro (BR); and Julia Drummond Noce, Rio de Janeiro (BR)
Assigned to Dell Products L.P., Round Rock, TX (US)
Filed by Dell Products L.P., Round Rock, TX (US)
Filed on Oct. 26, 2022, as Appl. No. 18/049,700.
Prior Publication US 2024/0143655 A1, May 2, 2024
Int. Cl. G06F 16/00 (2019.01); G06F 16/901 (2019.01)
CPC G06F 16/9024 (2019.01) 16 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining a set of measurements from sensing nodes in an environment wherein the sensing nodes and far edge nodes are represented in a graph as graph nodes, the graph identifying parent-child relationships between at least some of the graph nodes, wherein the child nodes having a higher level of detail than parent nodes in the graph;
associating the set of measurements to a graph node in the graph, wherein the graph node corresponds to a far edge node, wherein a new graph node is created when the set of measurements is not associated to any of the graph nodes;
updating the graph node in the graph associated with the set of measurements;
receiving node data a far-edge nodes in the environment;
updating the graph based on interactions included in the node data, wherein, when the node data includes an interaction, the interaction determines whether a child node is added to the graph node or a child node is removed from the graph node and relocated in the graph;
processing the set of measurements and the node data to generate a local update for the far edge node;
updating the corresponding far edge node with the local update;
updating graph nodes associated with the graph node that was updated; and
updating graph nodes not associated with the graph node that was updated.