US 12,008,714 B2
Point cloud data hierarchy
Stuart Glaser, San Francisco, CA (US); Wim Meeussen, Redwood City, CA (US); and Eitan Marder-Eppstein, San Francisco, CA (US)
Assigned to Willow Garage, LLC, San Francisco, CA (US)
Filed by Willow Garage, LLC, San Francisco, CA (US)
Filed on Apr. 13, 2023, as Appl. No. 18/300,277.
Application 18/300,277 is a continuation of application No. 17/728,466, filed on Apr. 25, 2022, granted, now 11,688,133.
Application 17/728,466 is a continuation of application No. 16/568,112, filed on Sep. 11, 2019, granted, now 11,380,053, issued on Jul. 25, 2022.
Application 16/568,112 is a continuation of application No. 16/271,148, filed on Feb. 8, 2019, abandoned.
Application 16/271,148 is a continuation of application No. 16/039,665, filed on Jul. 19, 2018, abandoned.
Application 16/039,665 is a continuation of application No. 15/838,130, filed on Dec. 11, 2017, abandoned.
Application 15/838,130 is a continuation of application No. 15/602,902, filed on May 23, 2017, abandoned.
Application 15/602,902 is a continuation of application No. 15/269,795, filed on Sep. 19, 2016, abandoned.
Application 15/269,795 is a continuation of application No. 14/718,777, filed on May 21, 2015, abandoned.
Application 14/718,777 is a continuation of application No. 13/789,560, filed on Mar. 7, 2013, abandoned.
Claims priority of provisional application 61/607,857, filed on Mar. 7, 2012.
Prior Publication US 2023/0252724 A1, Aug. 10, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 17/00 (2006.01); G06F 3/0482 (2013.01); G06F 3/04842 (2022.01); G06F 3/04845 (2022.01); G06F 3/04847 (2022.01); G06F 16/22 (2019.01); G06F 16/26 (2019.01); G06F 16/28 (2019.01); G06T 15/20 (2011.01); G06T 17/05 (2011.01); G06T 17/20 (2006.01)
CPC G06T 17/005 (2013.01) [G06F 3/0482 (2013.01); G06F 3/04842 (2013.01); G06F 3/04845 (2013.01); G06F 3/04847 (2013.01); G06F 16/2246 (2019.01); G06F 16/26 (2019.01); G06F 16/282 (2019.01); G06F 16/287 (2019.01); G06T 17/05 (2013.01); G06T 17/20 (2013.01); G06T 15/20 (2013.01); G06T 2207/10028 (2013.01); G06T 2210/56 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for presenting views of a point cloud data set, comprising:
a user interface through which a user selects a viewing perspective origin of a frustum, a vector of the frustum originating at the origin of the frustum, and a field of view of the frustum;
a storage system;
the point cloud data set comprising a number of associated points stored on the storage system;
a resolution gradient on the storage system;
octree mesh resolution data sectors on the storage system;
a controller operatively coupled to a storage cluster and configured to organize the point cloud data set into an octree hierarchy of data sectors, wherein each of the data sectors of the octree hierarchy of data sectors comprise, at a given octree mesh resolution, one or more points of the number of associated points;
a retrieval system connected to the storage system to retrieve the resolution gradient and the octree mesh resolution data sectors, wherein based on the viewing perspective origin of the frustum and the vector of the frustum selected using the user interface, the retrieval system retrieves an image that is assembled to include a plurality of data sectors pulled from the octree hierarchy of data sectors, 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 permit tuning, by the user, the resolution gradient between at least two of (i) a linear change in resolution from back to front, (ii) a nonlinear change in resolution from back to front (iii) a stepwise at certain distance thresholds.