Patent ID: 11861784
Assignee: MOTIONAL AD LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 19:
20. One or more computer-readable, non-transitory storage media storing instructions which, when executed by one or more computing devices, cause the one or more computing devices to:
generate a model of a virtual vehicle operating in an environment, the model of the virtual vehicle comprising a virtual sensor having a virtual viewing range;
segregate the virtual viewing range of the virtual sensor into a plurality of frustums, the virtual viewing range of the virtual sensor corresponding to a viewing range of a sensor of the vehicle;
generate a geometric viewport comprising a plurality of pixels, the geometric viewport having a height corresponding to a number of rays emitted from the virtual sensor;
segregate, the geometric viewport into a plurality of sections, each section of the plurality of sections corresponding to a frustum of the plurality of frustums; and
render a virtual point cloud of the virtual sensor, the virtual point cloud comprising a plurality of coordinate positions representing a portion of the environment located within the virtual viewing range of the virtual sensor.