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MODELING POINT CLOUD DATA USING HIERARCHIES OF GAUSSIAN MIXTURE MODELS

  • US 20170249401A1
  • Filed: 02/26/2016
  • Published: 08/31/2017
  • Est. Priority Date: 02/26/2016
  • Status: Active Grant
First Claim
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1. A method, comprising:

  • 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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