Patent ID: 8928656
Filing Date: 2015-01-06
Classification: G06T

Abstract:
1. A non-transitory computer-readable medium for storing a computer program executable by a processor, the program comprising: sampling a plurality of first rays in a first density through a volume divided into a plurality of sections; if a sampling value difference of at least two first rays is above a first threshold, indicating an object with the first ray having a higher sampling value of the at least two first rays, identifying a section including the first ray having the higher sampling value as a major section, and sampling a plurality of second rays in a second density, the plurality of second rays being in a first section within the major section, and the first section being smaller than the major section and including the first ray having the higher sampling value of the at least two first rays; wherein four corner rays and one center ray pass through the major section, and the sampling value difference of at least two first rays represents a difference between a ray value of one of the four corner rays and that of the center ray; if a sampling value difference between one of the plurality of second rays and another ray is above a second threshold, indicating the object with the one of the plurality of second rays having a higher sampling value and sampling a plurality of third rays in a second section which is a neighboring section to the first section, the sampling of the plurality of third rays being at the second spatial density; wherein if a sampling value difference between one of the plurality of third rays and another ray is above a third threshold, the one of the plurality of third rays having a higher sampling value indicates the object.