Patent ID: 11948369
Assignee: TRIFO, INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H  B | IPC B  G  H

Claim 17:
18. The method of claim 10, wherein creating a multilayered hybrid point grid further includes:
populating at least one layer of a 2D occupancy grid that corresponds to an x-y layer including at least some of the feature points in the point cloud of features, with points from the point cloud of features within a height range using ray tracing from an observed location of a point aligned to a corresponding point in the multilayered 2D occupancy grid and a location of a corresponding point reprojected on the layer of the multilayered 2D occupancy grid; and
finding cells along a ray between the observed location of the point as aligned and the corresponding point reprojected on the layer and marking the cells found as empty.