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

Claim 0:
1. A method comprising:
generating, using one or more processors of a vehicle operating in an environment, a model of a virtual vehicle operating in the environment, the model of the virtual vehicle comprising a virtual sensor having a virtual viewing range;
segregating, using the one or more processors, 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;
generating, using the one or more processors, 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;
segregating, using the one or more processors, 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
rendering, using the one or more processors, 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.