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

Claim 5:
6. The system of claim 2, further including refining the multilayered hybrid point grid by: using ray tracing, determining cells in each layer of the multilayered 2D occupancy grid to update based upon one or more points in the point cloud of features as refined by:
determining an array between a point in the point cloud of features as refined and a corresponding point located by a cell of an x-y layer of the multilayered 2D occupancy grid such that the array is substantially parallel to a direction of gravity in a coordinate system of the multilayered 2D occupancy grid; and
marking the cell as containing an object;
finding cells along the ray between the point in the point cloud of features as refined and the corresponding point in the x-y layer of the multilayered 2D occupancy grid and marking the cells found as empty; and, finding cells between the point in the point cloud of features as refined and a point from which the image data is captured and marking the cells as empty.