Terrain fusion real-time ray tracing optimization

A system of ray-tracing for terrain mapping, the system comprising:

• one or more processors coupled to memory of an aerial vehicle, the one or more processors configured to:
• identify a plurality of points generated from data captured by a sensor of the aerial vehicle, each of the plurality of points corresponding to a respective altitude value indicating a respective altitude of a portion of terrain;
• determine, based on the respective altitude value of each of the plurality of points, a threshold altitude of the terrain;
• identify a boundary defined in part based on the threshold altitude of the terrain;
• generate a terrain map for the terrain based on applying a ray-tracing process to the plurality of points, the ray-tracing process performed within the boundary from the plurality of points as respective sources to the aerial vehicle as a destination;
• and
• present a graphical representation of the terrain map in a graphical user interface of the aerial vehicle.

An aerial vehicle, comprising:

• a sensor;
• and
• one or more processors, coupled to memory, to:
• identify a plurality of points generated from data captured by the sensor, each of the plurality of points corresponding to a respective altitude value indicating a respective altitude of a portion of terrain;
• determine, based on the respective altitude value of each of the plurality of points, a threshold altitude of the terrain;
• identify a boundary defined in part based on the threshold altitude of the terrain;
• generate a terrain map for the terrain based on applying a ray-tracing process to the plurality of points, the ray-tracing process performed within the boundary from the plurality of points as respective sources to the aerial vehicle as a destination;
• and
• present a graphical representation of the terrain map in a graphical user interface of the aerial vehicle.