US 12,488,411 B2
Methods and control systems that use dimensional-transform-based three-dimensional searching and voxel mapping
Zhijing George Mou, Seattle, WA (US); and Qingqing Xiao, Seattle, WA (US)
Filed by Zhijing George Mou, Seattle, WA (US); and Qingqing Xiao, Seattle, WA (US)
Filed on Jun. 7, 2023, as Appl. No. 18/207,067.
Application 18/207,067 is a continuation in part of application No. 16/807,494, filed on Mar. 3, 2020, granted, now 11,710,211.
Application 16/807,494 is a continuation in part of application No. 15/940,789, filed on Mar. 29, 2018, granted, now 10,580,114, issued on Mar. 3, 2020.
Claims priority of provisional application 62/478,442, filed on Mar. 29, 2017.
Prior Publication US 2023/0351547 A1, Nov. 2, 2023
Int. Cl. G06T 3/06 (2024.01); G06T 7/73 (2017.01); G06T 17/00 (2006.01)
CPC G06T 3/06 (2024.01) [G06T 7/75 (2017.01); G06T 17/005 (2013.01)] 32 Claims
OG exemplary drawing
 
1. A control system comprising:
one or more computer systems, each including one or more processors and one or more memory subsystems; and
processor instructions, stored in one or more of the one or more memories, that, when executed by one or more of the one or more processors, control the control system to
receive three-dimensional data collected from an external environmental volume comprising three-dimensional data points with environmental locations, the environmental location of a three-dimensional data point represented by an ordered tuple of three three-dimensional-coordinate values, the three-dimensional data defining a three-dimensional space S,
apply a three-dimensional-space-to-one-dimensional-space transform to the three-dimensional data to generate corresponding one-dimensional data comprising one-dimensional data points, each one-dimensional data point represented by a key comprising an ordered set of fields, an ordered set containing the corresponding one-dimensional data points, each represented by a key, defining a hierarchically structured one-dimensional space L containing one-dimensional data points, wherein local spatial three-dimensional neighborhoods of three-dimensional data points in the received three-dimensional data correspond to local one-dimensional neighborhoods of one-dimensional data points in the one-dimensional space L and wherein the three-dimensional space S corresponds to a voxelated three-dimensional space S containing one or more levels of voxels, each voxel in each of the one or more levels corresponding to a sequence of adjacent three-dimensional data points in the one-dimensional space L,
identify a set of one-dimensional data points by searching for data points in the one-dimensional data,
apply a one-dimensional-space-to-three-dimensional-space reverse transform to the identified set of one-dimensional data points to generate a corresponding set of three-dimensional data points,
determine, from the set of three-dimensional data points, the location of an object in the external environmental volume, and
control the external environment by one or more of
positioning a system or device in the external environment relative to the determined location of the object,
applying a force to the object, and
directing an electromagnetic signal to the object.