Hybrid geometric primitive representation for point clouds

An apparatus for visual representation, comprising:

• one or more processors;
• and
• one or more memories coupled with the one or more processors and storing processor-executable code that, when executed by the one or more processors, is configured to cause the apparatus to:
• receive a point cloud of an environment;
• process the point cloud at multiple levels of detail to produce multi-level data, the multi-level data including simplified geometric descriptions of the point cloud and/or a subset of points of the point cloud;
• form intermediate representations based on the multi-level data;
• determine features for the intermediate representations based on the simplified geometric descriptions and/or the subset of points;
• and
• generate a visual representation of the environment based on the determined features.

A non-transitory computer-readable medium having program code recorded thereon for visual representation, the program code executed by one or more processors and comprising:

• program code to receive a point cloud of an environment;
• program code to process the point cloud at multiple levels of detail to produce multi-level data, the multi-level data including simplified geometric descriptions of the point cloud and/or a subset of points of the point cloud;
• program code to form intermediate representations based on the multi-level data;
• program code to determine features for the intermediate representations based on the simplified geometric descriptions and/or the subset of points;
• and
• program code to generate a visual representation of the environment based on the determined features.