Patent ID: 11920934
Assignee: MOVIDIUS LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 16:
17. A method comprising:
accessing a sparse voxel data structure from memory, the sparse voxel data structure including a three-dimensional scene representation of an environment, wherein the sparse voxel data structure describes a particular volume within the environment at a plurality of levels of detail, a first entry in the sparse voxel data structure includes a first set of bits representing voxels at a first level of detail of the plurality of levels of detail, the voxels at the first level of detail represent subvolumes of the particular volume, values of the first set of bits indicate whether a corresponding one of the voxels at the first level of detail is at least partially occupied by respective geometry, wherein the sparse voxel data structure further includes a number of second entries representing voxels at a second level of detail higher than the first level of detail, and the voxels at the second level of detail represent subvolumes of the voxels at the first level of detail;
identifying presence and location of objects within the particular volume using the sparse voxel data structure; and
determining a free path through the environment based on the geometry.