Terrain Ray Tracing Boundary for Real-Time LiDAR Mapping
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Solution Overview
Problem
Generating real-time terrain maps for aerial vehicles is challenging due to the excessive computational resources required for ray-tracing techniques, especially when using long-range LiDAR sensors.
Innovation Solution
The method involves defining a boundary based on the altitude of the terrain to limit the ray-tracing volume, reducing the computational resources needed by performing ray-tracing within this defined volume from LiDAR points as sources to the aerial vehicle as a destination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If ray-tracing is performed over the entire volume between sensor points and the aerial vehicle, then measurement precision of terrain mapping is improved, but computational resources and processing time increase excessively
Solution Approach 1:
The patent segments the ray-tracing volume by defining a boundary based on terrain altitude data. Instead of performing ray-tracing over the entire volume from sensor points to the aerial vehicle, the method divides the volume into regions of interest (where terrain exists) and regions of non-interest (above the terrain boundary), applying ray-tracing only within the bounded region. This segmentation maintains measurement precision for actual terrain while reducing unnecessary computations in empty space.
Solution Approach 2:
The patent applies local quality by making the ray-tracing process adaptive to local terrain characteristics. The boundary is dynamically determined based on local altitude values from the point cloud data, creating a terrain-specific volume of interest. This allows the system to concentrate computational resources where terrain features exist rather than uniformly processing the entire sensor field of view, thereby improving productivity without sacrificing terrain mapping precision.
2Area of stationary object
If long-range LiDAR sensors are used for terrain generation, then area of terrain coverage is improved, but computational resources required for processing increase
Solution Approach 1:
The patent extracts and utilizes terrain altitude information from the long-range LiDAR point cloud data to define a boundary volume. By extracting this boundary information first, the system can then perform ray-tracing only within the extracted volume of interest, rather than processing the entire long-range sensor data volume. This extraction approach enables the system to leverage long-range sensors for wide terrain coverage while reducing computational energy consumption by eliminating processing of empty spaces above the terrain.
3Productivity
If ray-tracing volume is reduced based on terrain altitude boundary, then computational resources are reduced, but potential terrain coverage may be limited
Solution Approach 1:
The patent implements a dynamic boundary definition where the ray-tracing volume is adjusted based on the actual terrain altitude data detected by the sensor. The boundary is not fixed but adapts to the terrain geometry, expanding to cover higher altitudes where terrain features exist and contracting where terrain is lower. This dynamic adjustment ensures that the reduced computational volume still captures all relevant terrain features, maintaining terrain coverage area while improving computational efficiency.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach allows for real-time terrain map generation using both short and long-range LiDAR sensors, significantly improving computational performance and enabling timely terrain mapping without latency.
Implementation Method 1
Each of the plurality of points can correspond to a respective altitude value indicating a respective altitude of a portion of terrain
Implementation Method 2
a light-detection and ranging sensor and the data includes LiDAR signals
Data Source
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AI summary
Ray-tracing for terrain mapping is provided. A system of an aerial vehicle can identify points generated from data captured by a sensor of the aerial vehicle. The points can each indicate a respective altitude value of a portion of terrain. The system can determine, based on the altitude values of the points, a threshold altitude of the terrain, and can identify a boundary defined in part based on the threshold altitude of the terrain. The system can generate a terrain map for the terrain based on applying a ray-tracing process to the points. The ray-tracing process can be performed within the boundary, using the points as respective sources and the aerial vehicle as a destination. The system can present a graphical representation of the terrain map in a graphical user interface of the aerial vehicle.