Approximate Trilinear Interpolation for Energy-Efficient 3D Scene Reconstruction
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Solution Overview
Problem
Existing graphics processing technologies face challenges in efficiently performing dense Simultaneous Localization and Mapping (SLAM) for accurate 3D scene reconstruction, particularly in energy-constrained edge vision processing systems, due to the high computational demands of ray-casting and interpolation methods.
Innovation Solution
The implementation of coarse-grained, approximate trilinear interpolation when traversing a ray, switching to higher precision interpolation near the intersection point, and utilizing hardware-assisted approximations to reduce computational overhead, such as by determining the maximum negative value of interpolation without exact multiplications.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If exact trilinear interpolation is used for ray-casting in dense SLAM, then measurement precision and reconstruction accuracy are improved, but use of energy and computational complexity increase significantly
Solution Approach 1:
The patent applies different interpolation precision at different locations along the ray. Coarse-grained approximate trilinear interpolation is used for the majority of the ray path (from origin to near intersection point), while higher precision interpolation is applied only in the immediate vicinity of the intersection point. This local quality differentiation maintains reconstruction accuracy where needed while significantly reducing overall energy consumption.
Solution Approach 2:
The patent uses partial action by applying high-precision interpolation only partially along the ray path rather than throughout the entire ray. The coarse-grained approximation handles the bulk computation, and only excessive (higher precision) interpolation is applied locally at the intersection region, achieving sufficient accuracy without the full computational cost.
2Use of energy by moving object
If coarse-grained approximate interpolation is used for ray-casting, then use of energy and computational complexity are reduced, but measurement precision and reconstruction accuracy deteriorate
Solution Approach 1:
The patent compensates for the reduced precision of coarse-grained approximation by applying higher precision interpolation locally at the intersection point. This ensures that the critical region where accuracy matters most receives the necessary computational resources, while the bulk of the ray path uses energy-efficient approximation.
Solution Approach 2:
The patent performs preliminary coarse-grained interpolation to quickly estimate the ray path and identify the intersection region. This preliminary action guides subsequent high-precision interpolation to the correct location, ensuring that computational resources are not wasted on unnecessary precision where the coarse approximation is sufficient.
3Measurement precision
If higher precision interpolation is applied throughout the entire ray path, then measurement precision is improved, but device complexity and computational overhead increase
Solution Approach 1:
The patent segments the ray path into distinct regions: a coarse-grained approximation region (from origin to near intersection point) and a high-precision region (at the intersection point). This segmentation allows the system to use appropriate interpolation methods for each region, reducing overall computational overhead while maintaining necessary precision.
Solution Approach 2:
The patent applies high-precision interpolation only partially along the ray path rather than throughout the entire path. The excessive precision is applied only where necessary (at the intersection point), while the bulk of the computation uses efficient approximation, thereby reducing device complexity and computational overhead.
Data Source
AI summary
A method comprising: dividing a 3D space into a voxel grid comprising a plurality of voxels; associating a plurality of distance values with the plurality of voxels, each distance value based on a distance to a boundary of an object; selecting an approximate interpolation mode for stepping a ray through a first one or more voxels of the 3D space responsive to the first one or more voxels having distance values greater than a threshold; and detecting the ray reaching a second one or more voxels having distance values less than the first threshold; and responsively selecting a precise interpolation mode for stepping the ray through the second one or more voxels.