Abstract: Examples disclosed herein involve a computing system configured to (i) receive sensor data associated with a vehicle's period of operation in an environment including (a) trajectory data associated with the vehicle and (b) at least one of trajectory data associated with one or more agents in the environment or data associated with one or more static objects in the environment, (ii) determine that at least one of (a) the one or more agents or (b) the one or more static objects is relevant to the vehicle, (iii) identify one or more times when there is a change to the one or more agents or the one or more static objects relevant to the vehicle, (iv) designate each identified time as a boundary point that separates the period of operation into one or more scenes, and (v) generate a representation of the one or more scenes based on the designated boundary points.

Abstract: A method and system for searching for data covered by nodes in a quadtree are disclosed. Nodes at a selected level of the quadtree are encoded with an index. The index nodes store data related to the level of descendants and ancestors of each index node. To search for data covered by a particular desired node, the index node ancestor or descendant of the desired node is determined. Based on the data in the index node, the desired node can be located without a full traversal of the quadtree. The quadtree nodes store elevation data for points on the Earth.

Abstract: A method and system for searching for data covered by nodes in a quadtree are disclosed. Nodes at a selected level of the quadtree are encoded with an index. The index nodes store data related to the level of descendants and ancestors of each index node. To search for data covered by a particular desired node, the index node ancestor or descendant of the desired node is determined. Based on the data in the index node, the desired node can be located without a full traversal of the quadtree. The quadtree nodes store elevation data for points on the Earth.

Abstract: Systems and methods for aggregation of textures at multiple resolution levels are described herein. An embodiment includes a preprocessing system that aggregates textures associated with objects of interest at multiple resolution levels. Individual textures may have a “pyramid” of resolution levels, and aggregated textures may be combined into a “tree” or a “forest”. Additionally, a texture forest may also be organized spatially and in resolution using the nodes of a quadtree, based on the 3D coordinates of the geometric primitives using each texture. A client identifies a resolution level for each object of interest in an image frame, groups objects based on resolution levels. The client may then test one texture coordinate per object at the beginning of a texture tree, recursively towards each child node of the tree, accumulating texture replacement transforms as a texture matrix. The client may then draw all the textures with the appropriate transform.

Abstract: Terrain data that represents earth features for a geographic area is received. The following meshes are generated based on the terrain data: (i) a water surface mesh including a first plurality of geometric primitives and (ii) a water bottom mesh including a second plurality of geometric primitives. Portions of the water bottom mesh appearing above the water surface mesh are identified. At least one of the water surface mesh and the water bottom mesh are corrected to cause the water surface mesh to appear above the water bottom mesh.

Abstract: Systems and methods for approximating terrain data representing a water surface are disclosed. A computer-based geographical information system for approximating terrain data representing a water surface is provided. The system includes a mesh simplifier and a surface inversion corrector. The mesh simplifier simplifies initial water surface and water bottom meshes. The surface inversion corrector corrects simplified water surface and/or water bottom meshes to avoid having a water bottom surface incorrectly appear above a corresponding water surface in a display view. In one example, the mesh simplifier simplifies the initial water surface mesh while accounting for water/land boundaries. The mesh simplifier also simplifies the initial water bottom mesh while accounting for geographic features and/or water/land boundaries. A computer-implemented method for approximating terrain data representing a water surface is provided.

Abstract: A method for efficiently querying multiple points in an indexed quadtree is disclosed. The elevation along a path containing points covered by nodes in a quadtree is desired. Index nodes covering the nodes with elevation data are retrieved. Based on the data in the index nodes, the highest resolution data is retrieved while limiting database lookups below a specified limit.

Abstract: Terrain data that represents earth features for a geographic area is received. The following meshes are generated based on the terrain data: (i) a water surface mesh including a first plurality of geometric primitives and (ii) a water bottom mesh including a second plurality of geometric primitives. Portions of the water bottom mesh appearing above the water surface mesh are identified. At least one of the water surface mesh and the water bottom mesh are corrected to cause the water surface mesh to appear above the water bottom mesh.

Abstract: Systems and methods for approximating terrain data representing a water surface are disclosed. A computer-based geographical information system for approximating terrain data representing a water surface is provided. The system includes a mesh simplifier and a surface inversion corrector. The mesh simplifier simplifies initial water surface and water bottom meshes. The surface inversion corrector corrects simplified water surface and/or water bottom meshes to avoid having a water bottom surface incorrectly appear above a corresponding water surface in a display view. In one example, the mesh simplifier simplifies the initial water surface mesh while accounting for water/land boundaries. The mesh simplifier also simplifies the initial water bottom mesh while accounting for geographic features and/or water/land boundaries. A computer-implemented method for approximating terrain data representing a water surface is provided.

Abstract: Systems and methods for aggregation of textures at multiple resolution levels are described herein. An embodiment includes a preprocessing system that aggregates textures associated with objects of interest at multiple resolution levels. Individual textures may have a “pyramid” of resolution levels, and aggregated textures may be combined into a “tree” or a “forest”. Additionally, a texture forest may also be organized spatially and in resolution using the nodes of a quadtree, based on the 3D coordinates of the geometric primitives using each texture. A client identifies a resolution level for each object of interest in an image frame, groups objects based on resolution levels. The client may then test one texture coordinate per object at the beginning of a texture tree, recursively towards each child node of the tree, accumulating texture replacement transforms as a texture matrix. The client may then draw all the textures with the appropriate transform.

Abstract: Systems and methods for aggregation of textures at multiple resolution levels are described herein. An embodiment includes a preprocessing system that aggregates textures associated with objects of interest at multiple resolution levels. Individual textures may have a “pyramid” of resolution levels, and aggregated textures may be combined into a “tree” or a “forest”. Additionally, a texture forest may also be organized spatially and in resolution using the nodes of a quadtree, based on the 3D coordinates of the geometric primitives using each texture. A client identifies a resolution level for each object of interest in an image frame, groups objects based on resolution levels. The client may then test one texture coordinate per object at the beginning of a texture tree, recursively towards each child node of the tree, accumulating texture replacement transforms as a texture matrix. The client may then draw all the textures with the appropriate transform.