Modeling point cloud data using hierarchies of Gaussian mixture models
First Claim
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1. A method, comprising:
- receiving, by a parallel processing unit, point cloud data defining a plurality of points;
defining a Gaussian Mixture Model (GMM) hierarchy that represents the point cloud data, wherein the GMM hierarchy is stored in a tree data structure in a memory and each node in the GMM hierarchy comprises a mixel encoding parameters for a probabilistic occupancy map corresponding to a sub-population of the points in the point cloud data; and
adjusting the parameters for one or more probabilistic occupancy maps in the GMM hierarchy by executing, via the parallel processing unit, a number of iterations of an Expectation-Maximum (EM) algorithm to fit the one or more probabilistic occupancy maps to the point cloud data.
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Abstract
A method, computer readable medium, and system are disclosed for generating a Gaussian mixture model hierarchy. The method includes the steps of receiving point cloud data defining a plurality of points; defining a Gaussian Mixture Model (GMM) hierarchy that includes a number of mixels, each mixel encoding parameters for a probabilistic occupancy map; and adjusting the parameters for one or more probabilistic occupancy maps based on the point cloud data utilizing a number of iterations of an Expectation-Maximum (EM) algorithm.
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Citations
20 Claims
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1. A method, comprising:
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receiving, by a parallel processing unit, point cloud data defining a plurality of points; defining a Gaussian Mixture Model (GMM) hierarchy that represents the point cloud data, wherein the GMM hierarchy is stored in a tree data structure in a memory and each node in the GMM hierarchy comprises a mixel encoding parameters for a probabilistic occupancy map corresponding to a sub-population of the points in the point cloud data; and adjusting the parameters for one or more probabilistic occupancy maps in the GMM hierarchy by executing, via the parallel processing unit, a number of iterations of an Expectation-Maximum (EM) algorithm to fit the one or more probabilistic occupancy maps to the point cloud data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform steps comprising:
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receiving point cloud data defining a plurality of points; defining a Gaussian Mixture Model (GMM) hierarchy that represents the point cloud data, wherein the GMM hierarchy is stored in a tree data structure in a memory and each node in the GMM hierarchy comprises a mixel encoding parameters for a probabilistic occupancy map corresponding to a sub-population of the points in the point cloud; and adjusting the parameters for one or more probabilistic occupancy maps in the GMM hierarchy by executing a number of iterations of an Expectation-Maximum (EM) algorithm to fit the one or more probabilistic occupancy maps to the point cloud data. - View Dependent Claims (13, 14, 15, 16)
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17. A system comprising:
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a memory storing point cloud data defining a plurality of points; and a parallel processing unit-configured to; define a Gaussian Mixture Model (GMM) hierarchy that represents the point cloud data, wherein the GMM hierarchy is stored in a tree data structure in the memory and each node in the GMM hierarchy comprises a mixel encoding parameters for a probabilistic occupancy map corresponding to a sub-population of the points in the point cloud, and adjust the parameters for one or more probabilistic occupancy maps by executing a number of iterations of an Expectation-Maximum (EM) algorithm to fit the one or more probabilistic occupancy maps to the point cloud data. - View Dependent Claims (18, 19, 20)
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Specification