Voxel Mesh Validation for Surface Holes and Duplicate Layers
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Solution Overview
Problem
Existing data representation methods for environments, such as meshes, often introduce defects like multiple surfaces for a single surface or holes, leading to inaccuracies that can cause navigation issues for vehicles and other applications.
Innovation Solution
A technique that associates data with a voxel space, analyzes voxels to identify errors like multiple grounds, multiple walls, holes, and noisy surface normals, and performs actions such as updating the mesh or trajectory to correct these errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If data is captured and represented as a mesh for environment mapping, then the map can be used for vehicle navigation and other purposes, but defects such as multiple surfaces for a single surface or holes can be introduced into the data
Solution Approach 1:
The patent applies preliminary action by performing validation checks on voxel data before generating the final mesh representation. The system identifies potential defects such as multiple surfaces for a single physical surface, holes in surfaces, and noisy surface normals during the data processing stage, allowing corrections to be made before the mesh is used for navigation, thereby preventing defects from propagating to the final output
2Productivity
If existing mesh representation methods are used to map environments, then data can be generated for navigation, but the methods introduce defects that cause navigation issues for vehicles
Solution Approach 1:
The patent implements feedback by continuously validating voxel data against expected geometric constraints during mesh generation. The system monitors for defects such as inconsistent surface normals, overlapping surfaces, and holes, and uses this feedback to correct errors or flag problematic regions before they affect vehicle navigation, ensuring both efficiency and safety
3Reliability
If voxel space analysis is performed to identify errors in mesh data, then data accuracy is enhanced and navigation is improved, but additional computational resources are required
Solution Approach 1:
The patent applies local quality by performing detailed validation analysis only on specific voxels that are likely to contain defects, rather than uniformly processing all voxels in the environment. The system identifies regions with potential issues such as surface discontinuities or abnormal normal vectors and applies targeted validation algorithms to these localized areas, reducing overall computational burden while maintaining high data accuracy
Data Source
AI summary
Techniques for validating data that represents an environment are discussed herein. In examples, the techniques can associate data of an environment with a voxel space including multiple voxels. The techniques can analyze the voxels to identify an error, such as multiple layers for a single surface in an environment, a hole for a location in an environment where a hole does not exist, uneven regions for a smooth surface in an environment, and so on. In some examples, when an error has been identified, an action can be performed, such as displaying a representation associated with the data and an indication of the error, storing an indication of the error in a log file, updating a trajectory for a vehicle, updating the data or a mesh associated with the data, and so on.