Abstract: A computer-implemented method for visualizing, in an extended reality (XR), occluded data, the XR visualizing front data, behind which the occluded data is hidden, the method comprising: displaying a view on the XR to a user on an XR device, the view comprising 3D representations of the visualized front data; receiving commands from the user regarding a change of the view on the XR; and changing the view on the extended reality based on the commands, wherein receiving the commands comprises performing a gesture recognition procedure to detect execution of pre-defined gestures by the user, wherein each of the pre-defined gestures is interpreted as a corresponding command for the XR device.

Abstract: A computer-implemented method for visualizing 3D data of a multitude of data sets in a scene using a computing device having limited available memory for visualizing the 3D data, the method comprising receiving the multitude of data sets, each data set having an LOD structure given as a tree comprising a multitude of nodes, determining the amount of memory available, selecting nodes of the data sets that comprise 3D data to be loaded into the available memory, loading the 3D data of the selected nodes into the memory; and visualizing the 3D data loaded into the memory on a display.

Abstract: A method for visualizing a point cloud on a display, wherein the visualizing includes changing an observation point onto the point cloud and efficient handling of changes in points of the point cloud that are differently obscured for different observation points. The method comprises occlusion culling testing using a depth buffer for sampling a first depth from a previous observation point associated with a previous frame towards the tested point to determine whether the tested point was visible or occluded when viewed from the previous observation point. If the tested point is determined to be occluded when viewed from the previous observation point, a heuristic testing is carried out as part of the occlusion culling testing to determine if the change in observation point since the previous frame is likely to have revealed the previously covered point to be visible from the new observation point.

Abstract: A computer-implemented method for visualizing sensor data in a three-dimensional virtual representation of a terrain that has multiple surface layers, the method comprising, in a computing device, receiving terrain data comprising information about the multiple surface layers, receiving at least one point cloud comprising a multitude of data points, each data point comprising three-dimensional coordinates in relation to the terrain and one or more sensor data values, performing a pre-processing procedure and visualizing the sensor data in at least a part of the virtual representation of the terrain, wherein the pre-processing procedure comprises generating a three-dimensional mesh as the virtual representation based on the terrain data, dividing the mesh into a multitude of tiles, each tile having at least three corners, each of the corners being shared with one or more neighbour tiles, calculating a projection direction for each tile corner, and calculating a projection direction for each tile.

Abstract: A method for real-time acquisition of point-cloud data of an ongoing scanning process, comprising a recording phase iteratively performed using an external-memory algorithm comprising an acquisition pipeline performed with parallel threads and an eviction pipeline, wherein a master thread comprises processing a master tree and a node cache, wherein the acquisition pipeline comprises continuously receiving the point-cloud data in input buffers, computing a local tree for each of a plurality of local threads, redistributing the point-cloud data onto local nodes, determining, for each local node whether the master tree comprises a corresponding node or not, either adding the point cloud data or creating the corresponding node in the master tree, wherein the eviction pipeline comprises evicting, during the ongoing scanning process, point cloud data from the node cache and writing it to one or more hard drives.

Abstract: A method may include providing geometry data and attribute information of the model in one or more data structures on a data storage device and performing a rendering process for providing a visualization of the model on the display for each of the multitude of viewpoints. The rendering process may include rendering a multitude of like 3D arrays in a single draw call, each array comprising at least eight voxels, removing voxels that are not to be visualized by folding vertices to a centre of the array, computing a distortion on a mapping from voxel space to attribute volume space in dependence on the removed voxels, assigning attributes to the voxels of the multitude of arrays using distorted values for retrieving attribute values from attribute volume space, the attributes being assigned to the remaining voxels according to the computed distortion, and visualizing the voxels of the multitude of arrays.

Abstract: A method for real-time presentation of information to an operator of a mining operation, the information relating to at least a first stone block to be removed from an exploitation site, the method comprising capturing with a camera a video stream of the mining operation of the first block, recognizing the first block in the video stream; extracting image data of the first block from the video stream; determining, based on the image data, at least one parameter of the first block, obtaining, based on the parameter, information related to the mining operation; and visualizing the video stream in real time to the operator on a display, the video stream comprising an image of the first block, wherein visualizing the video stream comprises using augmented reality techniques to visualize the image of the first block in an accentuated manner, and overlay the video stream with the information.

Abstract: A method may include providing geometry data and attribute information of the model in one or more data structures on a data storage device and performing a rendering process for providing a visualization of the model on the display for each of the multitude of viewpoints. The rendering process may include rendering a multitude of like 3D arrays in a single draw call, each array comprising at least eight voxels, removing voxels that are not to be visualized by folding vertices to a centre of the array, computing a distortion on a mapping from voxel space to attribute volume space in dependence on the removed voxels, assigning attributes to the voxels of the multitude of arrays using distorted values for retrieving attribute values from attribute volume space, the attributes being assigned to the remaining voxels according to the computed distortion, and visualizing the voxels of the multitude of arrays.

Abstract: A method for real-time visualization of a risk zone of a mining vehicle to a person on a mining worksite for augmenting the person's current view of the mining vehicle including capturing with a camera a stream of pictures corresponding at least partly to the person's field of view, recognizing at least one mining vehicle in the picture stream by means of image processing, extracting image data of the mining vehicle from the picture stream, calculating, based on the image data and on preset vehicle risk zone data, at least one risk zone of the mining vehicle adapted to the person's current view of the mining vehicle, and visualizing the risk zone on a person's display such that the person's current view of the mining vehicle is overlayed in real-time with the visualization of the risk zone.

Abstract: A method for real-time acquisition of point-cloud data of an ongoing scanning process, comprising a recording phase iteratively performed using an external-memory algorithm comprising an acquisition pipeline performed with parallel threads and an eviction pipeline, wherein a master thread comprises processing a master tree and a node cache, wherein the acquisition pipeline comprises continuously receiving the point-cloud data in input buffers, computing a local tree for each of a plurality of local threads, redistributing the point-cloud data onto local nodes, determining, for each local node whether the master tree comprises a corresponding node or not, either adding the point cloud data or creating the corresponding node in the master tree, wherein the eviction pipeline comprises evicting, during the ongoing scanning process, point cloud data from the node cache and writing it to one or more hard drives.

Abstract: A method for pre-processing point clouds comprising large amounts of point data. The method comprises converting the points' coordinates to Morton indices, sorting the Morton indices and sequentially determining intervals based on predefined criteria, which intervals define the leaf nodes and form the basis and starting point for the generation of a tree index structure comprising the leaf nodes, nodes, branches and nodes connecting the branches. Point data contained within a node or sub-trees of a node are quantizable.

Abstract: A method for real-time visualization of a risk zone of a mining vehicle to a person on a mining worksite for augmenting the person's current view of the mining vehicle including capturing with a camera a stream of pictures corresponding at least partly to the person's field of view, recognizing at least one mining vehicle in the picture stream by means of image processing, extracting image data of the mining vehicle from the picture stream, calculating, based on the image data and on preset vehicle risk zone data, at least one risk zone of the mining vehicle adapted to the person's current view of the mining vehicle, and visualizing the risk zone on a person's display such that the person's current view of the mining vehicle is overlayed in real-time with the visualization of the risk zone.

Abstract: A method for real-time visualization of a risk zone of a mining vehicle to a person on a mining worksite for augmenting the person's current view of the mining vehicle including capturing with a camera a stream of pictures corresponding at least partly to the person's field of view, recognizing at least one mining vehicle in the picture stream by means of image processing, extracting image data of the mining vehicle from the picture stream, calculating, based on the image data and on preset vehicle risk zone data, at least one risk zone of the mining vehicle adapted to the person's current view of the mining vehicle, and visualizing the risk zone on a person's display such that the person's current view of the mining vehicle is overlayed in real-time with the visualization of the risk zone.

Abstract: A method for pre-processing point clouds comprising large amounts of point data. The method comprises converting the points' coordinates to Morton indices, sorting the Morton indices and sequentially determining intervals based on predefined criteria, which intervals define the leaf nodes and form the basis and starting point for the generation of a tree index structure comprising the leaf nodes, nodes, branches and nodes connecting the branches. Point data contained within a node or sub-trees of a node are quantizable.

Abstract: A method for real-time visualization of a risk zone of a mining vehicle to a person on a mining worksite for augmenting the person's current view of the mining vehicle including capturing with a camera a stream of pictures corresponding at least partly to the person's field of view, recognizing at least one mining vehicle in the picture stream by means of image processing, extracting image data of the mining vehicle from the picture stream, calculating, based on the image data and on preset vehicle risk zone data, at least one risk zone of the mining vehicle adapted to the person's current view of the mining vehicle, and visualizing the risk zone on a person's display such that the person's current view of the mining vehicle is overlayed in real-time with the visualization of the risk zone.

Abstract: A method for real-time presentation of information to an operator of a mining operation, the information relating to at least a first stone block to be removed from an exploitation site, the method comprising capturing with a camera a video stream of the mining operation of the first block, recognizing the first block in the video stream; extracting image data of the first block from the video stream; determining, based on the image data, at least one parameter of the first block, obtaining, based on the parameter, information related to the mining operation; and visualizing the video stream in real time to the operator on a display, the video stream comprising an image of the first block, wherein visualizing the video stream comprises using augmented reality techniques to visualize the image of the first block in an accentuated manner, and overlay the video stream with the information.

Abstract: A method for visualizing deviations between nominal data and actual data of a three-dimensional object. The method includes providing deviation data for measurement points on the surface of the object comprising a deviation value describing a deviation between a nominal value and a measured value, selecting a subset of the multitude of measurement points, generating a two-dimensional surface model of the object, wherein the surface model comprises a multitude of pixels, the selected measurement points are positioned on the surface model according to their position on the object, and each pixel is assigned an index depending on the deviation value of the nearest selected measurement point, and visualizing a representation of at least a part the object to a user, thereby visualizing at least a part of the pixels, each pixel being assigned an optical code according to its index.

Abstract: Some embodiments of the invention pertain to a method for visualizing surface data and panorama image data in a three-dimensional scene. In some embodiments, the method may include providing a map view mode and a panorama view mode to a user. In some embodiments, the map view mode and/or the panorama view mode may include a multitude of surface tiles representing features of the three-dimensional surface, and may be referenced relative to a coordinate reference system. In some embodiments, the panorama image data may be associated with at least one panorama image and may include panorama position data describing a position relative to the coordinate reference system. In some embodiments, the map view mode may include visualizing surface data of at least a part of the representation of the three-dimensional surface as perceived from a map viewpoint.

Abstract: A method for visualizing deviations between nominal data and actual data of a three-dimensional object. The method includes providing deviation data for measurement points on the surface of the object comprising a deviation value describing a deviation between a nominal value and a measured value, selecting a subset of the multitude of measurement points, generating a two-dimensional surface model of the object, wherein the surface model comprises a multitude of pixels, the selected measurement points are positioned on the surface model according to their position on the object, and each pixel is assigned an index depending on the deviation value of the nearest selected measurement point, and visualizing a representation of at least a part the object to a user, thereby visualizing at least a part of the pixels, each pixel being assigned an optical code according to its index.

Abstract: A method for providing information representing physical features of a portion of a three-dimensional surface, the information including data files at different resolution levels. The data files are stored in a hierarchical file system. A hash value is computed from a file designator of a data file and is assigned to the data file. The data file is stored according to the assigned hash value in the file system. A request hash value is received from the external device, and a data file that has an assigned value corresponding to the request hash value is provided to the external device. A method for receiving such information is also provided, in which information including an information designator is requested. A request hash value is computed from the information designator and transmitted to the server. A data file that includes the requested information is received from the remote server.