Spatial modeling based on point collection and voxel grid

A system for spatially modeling a three-dimensional object, the system comprising:

• a non-transitory memory having instructions stored thereon;
• and
• at least one processor operatively coupled to the non-transitory memory, and configured to read the instructions to:
• obtain an object representative polygon mesh including a set of polygons in three dimensions, wherein the object representative polygon mesh represents a surface of the three-dimensional object,
• convert the object representative polygon mesh into an object representative triangle mesh including a set of first triangles,
• subdivide the object representative triangle mesh into a subdivided object representative triangle mesh including a set of second triangles, wherein the subdivided object representative triangle mesh is overlaid with a voxel grid including a set of voxels,
• generate a point collection including a plurality of points each corresponding to a voxel in the voxel grid, wherein each point is generated based on vertices of the subdivided object representative triangle mesh located in the voxels of the voxel grid, and
• generate, based on the point collection and the voxel grid, at least one of:
• a surface point cloud representation of the three-dimensional object, a surface voxel representation of the three-dimensional object, or a volume voxel representation of the three-dimensional object.

A non-transitory computer readable medium having instructions stored thereon for spatially modeling a three-dimensional object, wherein the instructions, when executed by at least one processor, cause at least one device to perform operations comprising:

• obtaining an object representative polygon mesh including a set of polygons in three dimensions, wherein the object representative polygon mesh represents a surface of the three-dimensional object;
• converting the object representative polygon mesh into an object representative triangle mesh including a set of first triangles;
• subdividing the object representative triangle mesh into a subdivided object representative triangle mesh including a set of second triangles, wherein the subdivided object representative triangle mesh is overlaid with a voxel grid including a set of voxels;
• generating a point collection including a plurality of points each corresponding to a voxel in the voxel grid, wherein each point is generated based on vertices of the subdivided object representative triangle mesh located in the voxels of the voxel grid;
• and
• generating, based on the point collection and the voxel grid, at least one of:
• a surface point cloud representation of the three-dimensional object, a surface voxel representation of the three-dimensional object, or a volume voxel representation of the three-dimensional object.