Octree World Model Data Reduction for Mobile Platforms
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Solution Overview
Problem
The high cost and bulkiness of sensors required for creating three-dimensional world models, combined with unreliable datalink connections in some environments, lead to excessive bandwidth consumption when sharing these models among mobile platforms, making it infeasible for compact platforms and restricting their mission capabilities.
Innovation Solution
A system that represents three-dimensional world models using an occupancy map with an octree data structure, allowing for dynamic reduction of detail and region of interest, minimizing bandwidth usage by transmitting only the necessary information, and periodically updating the reduced maps.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If the three-dimensional world model is shared in full detail among mobile platforms, then the availability and accuracy of world model information is improved, but the bandwidth consumption becomes excessive
Solution Approach 1:
The three-dimensional world model is divided into discrete volumetric elements (voxels) organized in an octree structure, where space is segmented into hierarchical levels. This segmentation allows selective transmission of only relevant volume elements to receiving platforms, rather than transmitting the complete high-resolution model, thereby reducing bandwidth consumption while maintaining necessary information availability for mission objectives
Solution Approach 2:
The system transmits world model data with varying levels of detail based on spatial location and mission requirements. Critical regions receive higher resolution data while less critical areas use coarser resolution. This local quality approach ensures that bandwidth is allocated efficiently to regions where detailed information is most valuable for decision-making and navigation
2Reliability
If sensors and equipment for creating three-dimensional world models are included in every mobile platform, then the autonomy and reliability of each platform is improved, but the cost and device complexity become prohibitive
Solution Approach 1:
Instead of equipping each mobile platform with expensive three-dimensional sensing equipment, the system creates a master three-dimensional world model using sensors on one or more platforms, then transmits copies of this model (in reduced form) to other platforms via datalink. This copying approach provides receiving platforms with world model information without requiring them to carry the heavy and expensive sensing equipment, thereby maintaining operational autonomy while reducing device complexity
Solution Approach 2:
The three-dimensional world model serves multiple functions across the mobile platform system: it provides navigation data for platforms without sensors, supports collision avoidance for all platforms, enables mission planning, and facilitates situational awareness. This universal application of a single shared data structure eliminates the need for each platform to independently carry and process redundant sensing equipment
3Measurement precision
If the three-dimensional world model is transmitted with high resolution and complete detail, then the decision-making accuracy is improved, but the datalink bandwidth requirements become excessive
Solution Approach 1:
The system dynamically adjusts the resolution and detail level of transmitted world model data based on real-time mission requirements, platform position, and bandwidth availability. The octree structure enables dynamic selection of appropriate detail levels for different regions and time periods, ensuring that decision-making accuracy is maintained at levels necessary for current mission objectives while optimizing bandwidth usage
Data Source
AI summary
A system in a mobile platform creates a three-dimensional world model from sets of volume elements organized into sets of volume elements of increasing size and converted into an octree data structure. The system receives a request for a map of a specific, limited region and at a specific, limited level of detail and produces a reduced three-dimensional world model to conform to the limited region and level of detail. The reduced map is transmitted to the requesting platform and periodically updated. The map may be reduced by categorizing the lowest level of volume elements according to the worst case of any constituent volume elements. Alternatively, the system may indicate in the lowest level of volume elements whether the receiving platform would benefit from an increased level of detail.