Patent ID: 11915599
Assignee: CITY UNIVERSITY OF HONG KONG
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 6:
7. The method of claim 1, wherein the shortest possible three-dimensional path is calculated according to the following equations:, f
      ⁡
      (
      cell
      )
     
     =
     
      
       1
       
        size
        (
        S
        )
       
      
      ⁢
      
       
        
        
         lineSegment
         ⁡
         (
         
          cell
          ,
          
           parent
           (
           cell
           )
          
         
         )
        
        
       
       2
      
     
    
   
   
    
     (
     4
     )
    
   
  
 

 
  
   
    
     
      ∑
      
       c
       ∈
       S
      
     
     
      (
      
       costCoef
       ⁡
       (
       c
       )
      
     
    
   
   
    
     (
     5
     )
    
   
  
 

 
  
   
    
     S
     =
     
      voxelTraversal
      ⁡
      (
      
       cell
       ,
       
        parent
        (
        cell
        )
       
      
      )
     
    
   
   
    
     (
     6
     )
    
   
  
 

wherein f(cell) is an estimate of the length of a shortest path from a parent grid cell to a grid cell on a line segment of the path in the graph.