Enhanced system and method for control of robotic devices

In a point cloud system having at least two separate sets of points from different scans, each of these sets having different points of view, at least some of which may be inaccurate or incomplete, a method of creating a point cloud with potentially occluded points, the method comprising the steps of:

• determining, using an accelerated approach of close sister points, which occluded points may be removed by:
• looking out from an assumed non-occluded point;
• finding the closest point in the next set of points;
• if not occluded, looking back into the first set of points;
• if occluded, jumping to the closest not occluded point and looking back;
• and
• confirming a second sister as a close sister only if the second sister is close to the assumed non-occluded point;
• thereby enabling dramatically faster computation of differences.