Integration of depth points into a height map

A non-transitory computer readable medium having stored thereon instructions that, upon execution by a computing device, cause the computing device to perform functions comprising:

• receiving, from at least one depth sensor, a plurality of detected depth points indicative of depths of at least one surface within an environment along rays from the at least one depth sensor;
• determining a projection of the plurality of detected depth points onto a plane within the environment;
• identifying a plurality of first detected points from the plurality of detected depth points, wherein a first detected point comprises a first point at a particular location of the plane in the projection;
• storing digital entries corresponding to points located within a threshold buffer from one of the first detected points relative to the plane;
• determining values for the digital entries, wherein a value for a digital entry corresponding to a particular point comprises an accumulation of distances from detected depth points along one or more of the rays that cross the particular point;
• and
• determining a digital height map representative of heights of the at least one surface in the environment relative to the plane, wherein the heights of the at least one surface at particular locations in the digital height map are determined based on points where the values for the digital entries cross zero.

A system comprising:

• at least one depth sensor;
• and
• a control system configured to:
• receive, from at least one depth sensor, a plurality of detected depth points indicative of depths of at least one surface within an environment along rays from the at least one depth sensor;
• determine a projection of the plurality of detected depth points onto a plane within the environment;
• identify a plurality of first detected points from the plurality of detected depth points, wherein a first detected point comprises a first point at a particular location of the plane in the projection;
• store digital entries corresponding to points located within a threshold buffer from one of the first detected points relative to the plane;
• determine values for the digital entries, wherein a value for a digital entry corresponding to a particular point comprises an accumulation of distances from detected depth points along one or more of the rays that cross the particular point;
• and
• determine a digital height map representative of heights of the at least one surface in the environment relative to the plane, wherein the heights of the at least one surface at particular locations in the digital height map are determined based on points where the values for the digital entries cross zero.