US 12,008,713 B2
Point cloud data hierarchy
Eitan Marder-Eppstein, San Francisco, CA (US); Stuart Glaser, San Francisco, CA (US); and Wim Meeussen, Redwood City, CA (US)
Assigned to Willow Garage, LLC, San Francisco, CA (US)
Filed by Willow Garage, LLC, San Francisco, CA (US)
Filed on Apr. 12, 2023, as Appl. No. 18/299,642.
Application 18/299,642 is a continuation of application No. 17/728,448, filed on Apr. 25, 2022, granted, now 11,688,132.
Application 17/728,448 is a continuation of application No. 16/567,943, filed on Sep. 11, 2019, granted, now 11,373,364, issued on Jun. 28, 2022.
Application 16/567,943 is a continuation of application No. 16/262,710, filed on Jan. 30, 2019, abandoned.
Application 16/262,710 is a continuation of application No. 16/014,266, filed on Jun. 21, 2018, abandoned.
Application 16/014,266 is a continuation of application No. 15/813,890, filed on Nov. 15, 2017, abandoned.
Application 15/813,890 is a continuation of application No. 15/486,172, filed on Apr. 12, 2017, abandoned.
Application 15/486,172 is a continuation of application No. 15/239,663, filed on Aug. 17, 2016, abandoned.
Application 15/239,663 is a continuation of application No. 14/718,594, filed on May 21, 2015, abandoned.
Application 14/718,594 is a continuation of application No. 13/789,554, filed on Mar. 7, 2013, abandoned.
Claims priority of provisional application 61/607,833, filed on Mar. 7, 2012.
Prior Publication US 2023/0252723 A1, Aug. 10, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 17/00 (2006.01); G06T 15/10 (2011.01); G06T 15/20 (2011.01)
CPC G06T 17/005 (2013.01) [G06T 15/10 (2013.01); G06T 15/20 (2013.01); G06T 2207/10028 (2013.01); G06T 2210/36 (2013.01); G06T 2210/56 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for presenting multi-resolution views of a point data set, comprising:
receiving a selection from a user of a user interface to present an image based at least in part upon a viewing perspective origin of the frustum, a vector of the frustum originating at the origin of the frustum and a field of view of the frustum;
storing data on a storage system that is representative of a point cloud comprising a number of associated points;
storing a resolution gradient on the storage system;
octree mesh resolution data sectors on the storage system;
organizing the data into an octree hierarchy of data sectors, each of which is representative of one or more of the points at a given octree mesh resolution;
retrieving the resolution gradient and the octree mesh resolution data sectors from the storage system, wherein through the selection using the user interface of
the origin and vector originating at the origin, the image is assembled to include a plurality of data sectors pulled from the octree hierarchy, the plurality of data sectors being assembled such that sectors representative of points closer to the selected viewing origin have a higher octree mesh resolution than that of sectors representative of points farther away from the selected viewing origin along the vector, wherein the image is based on the resolution gradient retrieved from the storage system and the resolution gradient is selected to form a first gradient with a descending resolution in a direction outward from the selected viewing perspective origin along the vector; and
tuning, by an operator, the resolution gradient between at least two of (i) to have linear change in resolution from back to front, (ii) to be nonlinear and (iii) to be stepwise at certain distance thresholds.