Patent ID: 9721380
Date: 2017-08-01
CPC Classifications: G06T

Claim:
1. A method performed by a hardware device comprising: obtaining, by the hardware device, multiple volumes in an environment, each volume being a 3D volume described by a 3D grid of multiple voxels; selecting, by the hardware device, one of the multiple volumes to be a target volume; identifying, in a first phase and by the hardware device, a candidate list of multiple source volumes; identifying, in a second phase and by the hardware device, which of multiple sub-volumes of the target volume are overlapped by at least one of the source volumes in the candidate list; marking, by the hardware device and as a part of the second phase in response to determining that a sub-volume is fully overlapped by a source volume, the sub-volume as being fully overlapped; determining, by the hardware device, that the target volume is fully overlapped by at least one source volume in response to all of the sub-volumes being overlapped by at least one source volume; and excluding, by the hardware device, the target volume from further processing in response to the target volume being fully overlapped by at least one source volume, the excluding including excluding the target volume from a list of volumes in the environment.