Volume-Based Coverage Analysis for Sensor Placement in 3D Environments
First Claim
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1. A method for analyzing coverage of a three-dimensional environment by a set of sensors, comprising the steps of:
- partitioning a 3D model of the environment into a set of voxels, wherein each voxel represents a portion of the environment; and
casting a ray from each pixel in each sensor through the 3D model to determine coverage data for each voxel; and
analyzing the coverage data to determine a result indicative of an effective arrangement of the set of sensors, and wherein the description of the environment, the voxels and the coverage data are three dimensional, and the steps are performed in a processor.
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Abstract
Coverage of sensors in a CTV system in a three-dimensional environment are analyzed by partitioning a 3D model of the environment into a set of voxels. A ray is cast from each pixel in each sensor through the 3D model to determine coverage data for each voxel. The coverage data are analyzed to determine a result indicative of an effective arrangement of the set of sensors.
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Citations
22 Claims
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1. A method for analyzing coverage of a three-dimensional environment by a set of sensors, comprising the steps of:
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partitioning a 3D model of the environment into a set of voxels, wherein each voxel represents a portion of the environment; and casting a ray from each pixel in each sensor through the 3D model to determine coverage data for each voxel; and analyzing the coverage data to determine a result indicative of an effective arrangement of the set of sensors, and wherein the description of the environment, the voxels and the coverage data are three dimensional, and the steps are performed in a processor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16, 17, 18, 19, 20)
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13. The method of claim 13, wherein the description of the environment uses world coordinates, and the set of pixels uses window coordinates, and further comprising:
multiplying window coordinates of the pixel along with the distances by an inverse modeling matrix that converts the world coordinates to the windows coordinates.
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21. A method for analyzing coverage of a three-dimensional environment by a set of sensors, comprising the steps of:
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partitioning a 3D model of the environment into a set of voxels, wherein each voxel represents a portion of the environment; and constructing a description of the field of view for each sensor; and projecting the descriptions of the field of view through the set of voxels to determine 3D coverage data; and analyzing the coverage data to determine a result indicative of an effective arrangement of the set of sensors, and wherein the description of the environment, the description of the field of view, the voxels and the coverage data are three dimensional, and the steps are performed in a processor.
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22. The method of claim 22, wherein the constructing accounts for occlusions by subtracting shadow volumes from the description of the field of view.
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