Three-dimensional representation by multi-scale voxel hashing
AssigneesBeijing Jingdong Shangke Information Technology Co., Ltd., JD.com American Technologies Corporation
InventorYi Xu
Life of this patent
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Abstract
A system and method for constructing a multi-scale voxel representation of a three-dimensional (3D) sparse point map. The method includes: providing the 3D sparse point map; receiving coordinates of a 3D point from the 3D sparse point map; converting the coordinates of the 3D point to integer coordinates; and when the integer coordinates are not encompassed by any voxel entries of a hash table: creating a new unit voxel at scale level 0, scale level 0 being a minimum voxel size; calculating a hash value using the integer coordinates; inserting the new unit voxel into the hash table; and merging the new unit voxel with neighboring voxels along at least one axis of the integer coordinates, so as to obtain the multi-scale voxel representation of the 3D sparse point map.
Claims20
A method for constructing a multi-scale voxel representation of a three-dimensional (3D) point map using a computing device, the method comprising:
- providing the 3D point map in a coordinate space, the coordinate space having x, y and z axes;
- receiving coordinates of a 3D point from the 3D point map;
- converting the coordinates of the 3D point to integer coordinates;
- comparing the integer coordinates with voxel entries in a hash table;
- and
- in determining the integer coordinates are not encompassed by any of the voxel entries in the hash table:
- creating a new unit voxel, each of three dimensions of the new unit voxel having a unit length respectively corresponding to one integer unit of the integer coordinates along the axes of the coordinate space;
- calculating a hash value using the integer coordinates;
- inserting the new unit voxel into the hash table;
- and
- merging the new unit voxel with neighboring voxels along at least one axis of the coordinate space, so as to obtain the multi-scale voxel representation of the 3D point map.
A system for constructing a multi-scale voxel representation of a three-dimensional (3D) point map, the system comprising a computing device, the computing device comprising a processor and a storage device storing computer executable code, wherein the computer executable code, when executed at the processor, is configured to:
- provide the 3D point map in a coordinate space, the coordinate space having x, y and z axes;
- receive coordinates of a 3D point from the 3D point map;
- convert the coordinates of the 3D point to integer coordinates;
- compare the integer coordinates with voxel entries in a hash table;
- and
- in determining the integer coordinates are not encompassed by any of the voxel entries in the hash table:
- create a new unit voxel, each of three dimensions of the new unit voxel having a unit length respectively corresponding to one integer unit of the integer coordinates along the axes of the coordinate space;
- calculate a hash value using the integer coordinates;
- insert the new unit voxel into the hash table;
- and
- merge the new unit voxel with neighboring voxels along at least one axis of the coordinate space, so as to obtain the multi-scale voxel representation of the 3D point map.
A non-transitory computer readable medium storing computer executable code, wherein the computer executable code, when executed at a processor of a computing device, is configured to:
- provide the 3D point map in a coordinate space, the coordinate space having x, y and z axes;
- receive coordinates of a 3D point from the 3D point map;
- convert the coordinates of the 3D point to integer coordinates;
- compare the integer coordinates with voxel entries in a hash table;
- and
- in determining the integer coordinates are not encompassed by any of the voxel entries in the hash table:
- create a new unit voxel, each of three dimensions of the new unit voxel having a unit length respectively corresponding to one integer unit of the integer coordinates along the axes of the coordinate space;
- calculate a hash value using the integer coordinates;
- insert the new unit voxel into the hash table;
- and
- merge the new unit voxel with neighboring voxels along at least one axis of the coordinate space, so as to obtain the multi-scale voxel representation of the 3D point map.
Dependencies are inferred from the claim text.