The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 18, 2018
Filed:
Apr. 17, 2016
X Development Llc, Mountain View, CA (US);
Max Bajracharya, Millbrae, CA (US);
X DEVELOPMENT LLC, Mountain View, CA (US);
Abstract
Methods, apparatus, systems, and computer-readable media are provided for efficient mapping of a robot environment. In various implementations, a group of data points may be sensed by a three-dimensional sensor. One or more voxels of a three-dimensional voxel model that are occupied by the group of data points may be identified. For each occupied voxel, a column of the three-dimensional voxel model that contains the occupied voxel may be identified. Occupied voxels contained in each column may be indexed by elevation. In various implementations, one or more sparse linked data structures may be used to represent the columns.