# US 2026/0094367 A1 · Hybrid geometric primitive representation for point clouds

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- Number: US 2026/0094367 A1
- Document ID: US20260094367A1
- Status: Published application
- Kind: A1
- Application number: 19/414,034
- Filed: 2025-12-09
- Published: 2026-04-02
- Earliest claimed: 2023-03-01
- Assignees: Toyota Research Institute, Inc.; Toyota Jidosha Kabushiki Kaisha; Massachusetts Institute of Technology
- Applicants: Toyota Research Institute, Inc.; Massachusetts Institute of Technology
- Inventors: Xiangru HUANG; Marianne ARRIOLA; Yue WANG; Vitor Campagnolo GUIZILINI; Rares Andrei AMBRUS; Justin SOLOMON
- Web page: https://patentgrep.com/patent/US20260094367A1

## CPC

- G06T 17/10: Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
- G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

A method for visual representation includes receiving a point cloud of an environment. The method also includes processing 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. The method further includes forming intermediate representations based on the multi-level data. The method still further includes determining features for the intermediate representations based on the simplified geometric descriptions and/or the subset of points. The method also includes generating a visual representation of the environment based on the determined features.

## Claims

### Claim 1

A method for visual representation, comprising:
receiving a point cloud of an environment;
processing 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;
forming intermediate representations based on the multi-level data;
determining features for the intermediate representations based on the simplified geometric descriptions and/or the subset of points; and
generating a visual representation of the environment based on the determined features.

### Claim 2 (depends on 1)

The method of claim 1, wherein the multiple levels of detail use different spatial resolutions or grid sizes.

### Claim 3 (depends on 1)

The method of claim 1, wherein the simplified geometric descriptions include one or more of surfaces, curves, shapes, or other geometric elements.

### Claim 4 (depends on 1)

The method of claim 1, wherein the point cloud is captured by one or more sensors associated with a vehicle.

### Claim 5 (depends on 4)

The method of claim 4, further comprising using the visual representation to control movement, navigation, or operation of the vehicle.

### Claim 6 (depends on 1)

The method of claim 1, wherein the intermediate representations include learned features, feature maps, or other data structures derived from the multi-level data.

### Claim 7 (depends on 1)

The method of claim 1, wherein each of the simplified geometric descriptions or the subset of points is selected based on a confidence or quality measure.

### Claim 8

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.

### Claim 9 (depends on 8)

The apparatus of claim 8, wherein the multiple levels of detail use different spatial resolutions or grid sizes.

### Claim 10 (depends on 8)

The apparatus of claim 8, wherein the simplified geometric descriptions include one or more of surfaces, curves, shapes, or other geometric elements.

### Claim 11 (depends on 8)

The apparatus of claim 8, wherein the point cloud is captured by one or more sensors associated with a vehicle.

### Claim 12 (depends on 11)

The apparatus of claim 11, wherein execution of the instructions further cause the apparatus to use the visual representation to control movement, navigation, or operation of the vehicle.

### Claim 13 (depends on 8)

The apparatus of claim 8, wherein the intermediate representations include learned features, feature maps, or other data structures derived from the multi-level data.

### Claim 14 (depends on 8)

The apparatus of claim 8, wherein each of the simplified geometric descriptions or the subset of points is selected based on a confidence or quality measure.

### Claim 15

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.

### Claim 16 (depends on 15)

The non-transitory computer-readable medium of claim 15, wherein the multiple levels of detail use different spatial resolutions or grid sizes.

### Claim 17 (depends on 15)

The non-transitory computer-readable medium of claim 15, wherein the simplified geometric descriptions include one or more of surfaces, curves, shapes, or other geometric elements.

### Claim 18 (depends on 15)

The non-transitory computer-readable medium of claim 15, wherein the point cloud is captured by one or more sensors associated with a vehicle.

### Claim 19 (depends on 18)

The non-transitory computer-readable medium of claim 18, wherein the program code further comprises program code to use the visual representation to control movement, navigation, or operation of the vehicle.

### Claim 20 (depends on 15)

The non-transitory computer-readable medium of claim 15, wherein the intermediate representations include learned features, feature maps, or other data structures derived from the multi-level data.