[특허]System and method for computing reachable areas

HRL Laboratories, LLC

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특허 상세정보

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System and method for computing reachable areas

특허상세정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G01C-017/00 G01B-011/28
미국특허분류(USC)	702/153; 702/154; 702/155; 702/156; 345/419; 345/420; 345/422; 345/426; 345/589
출원번호	UP-0413925 (2006-04-27)
등록번호	US-7599814 (2009-10-20)
발명자 / 주소	Tinker, Peter A. Payton, David W.
출원인 / 주소	HRL Laboratories, LLC
대리인 / 주소	Tope McKay & Assoc.
인용정보	피인용 횟수 : 0 인용 특허 : 8

초록
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The present invention relates to computing reachable areas given a first point. More specifically, the present invention relates to the computation of an intersection between a first surface and a second surface for determining a set of points that are reachable from a first point. Using the present invention, a user can determine either (1) a locus of target sites that can be struck by a ballistic projectile from a given launch site, or (2) a locus of launch sites that can be used to hit a given target site. The disclosed system and method employs graph...

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What is claimed is: 1. A computer implemented method for determining an area that is reachable from a first point comprising an act of causing a computer having a processor and a memory module encoded with instruction means to execute the instruction means and cause the processor to perform operations of: defining a first surface from a trajectory engine; rendering a topographical map from topographical map information utilizing a graphics engine; rendering the first surface utilizing a graphics engine; and eliminating shadowed images utilizing a color buffer; obtaining a second directional surface; determining a set of intersection points between the first surface and the second directional surface, wherein the set of intersection points has an order in a first dimension and a direction in a second dimension based on the directionality of the second directional surface; and determining a set of reachable points from the set of intersection points, wherein the set of reachable points has a point per order. 2. The method of claim 1, wherein the act of obtaining a second directional surface further comprises an act of: defining the second directional surface by a set of ordered curves in space, in which the projection onto a plane of interest is non-intersecting. 3. The method of claim 2, wherein the act of defining further comprises an act of: selecting the set of ordered curves in space from a set of trajectories. 4. The method of claim 3, wherein the act of selecting further comprises an act of: determining the set of trajectories from a set of ballistic trajectories. 5. The method of claim 1, wherein the act of obtaining a first surface comprises an act of: selecting the first surface from a set of topological maps. 6. The method of claim 1, wherein the act of obtaining further comprises an act of: discretizing the first surface and the second directional surface, such that the first surface and the second directional surface comprises discrete points that represent the surfaces. 7. The method of claim 1, wherein the act of determining a set of reachable points further comprises acts of: mapping the set of intersection points into a rectangular grid corresponding to order and direction, wherein each intersection point has an order value and a direction value; and determining for each direction value the smallest order value, wherein the direction value and smallest order value comprises one of the reachable points in the set of reachable points. 8. The method of claim 1, wherein the act of determining a set of intersection points comprises an act of determining whether and where the first surface intersects the second surface using a depth buffer. 9. An apparatus for computing reachable areas comprising: a processor, wherein the processor comprises: a trajectory engine; and a graphics engine connected with the trajectory engine; and a memory module connected with the processor, wherein the memory module comprises: topographical map information; and a color buffer, wherein the processor comprises software for performing acts of: defining a first surface from the trajectory engine; rendering a topographical map from the topographical map information utilizing the graphics engine; rendering the first surface utilizing the graphics engine; and eliminating shadowed images utilizing the color buffer. 10. The apparatus of claim 9, wherein the act of defining a first surface includes acts of: selecting a starting and ending azimuth value; and varying an azimuth value between the starting and ending azimuth values. 11. The apparatus of claim 9, wherein the act of eliminating shadowed images includes acts of: reading back the color buffer into the processor, wherein the color buffer contains pixels of a first color and a second color, wherein the first color represents elements where the topographical map has a lower Z value than the corresponding first surface, and the second color represents elements where the topographical map has a higher Z value that the corresponding first surface; determining a shadow from the point where the color buffer contains only the first color; and eliminating the areas in the shadow. 12. An apparatus for computing reachable areas comprising: a processor, wherein the processor comprises: a trajectory engine; and a memory module connected with the processor, wherein the memory module contains topographical map information, wherein the processor comprises software for performing acts of: obtaining a first surface from the topographical information and a second directional surface from the trajectory engine; determining a set of intersection points between the first surface and the second directional surface, wherein the set of intersection points has an order in a first dimension and a direction in a second dimension based on the directionality of the second directional surface; and determining a set of reachable points from the set of intersection points, wherein the set of reachable points has one point per order. 13. The apparatus of claim 12, wherein the act of obtaining a second directional surface further comprises an act of: receiving a set of ordered curves in space from the trajectory engine, in which the projection onto a plane of interest is non-intersecting. 14. The apparatus of claim 12, wherein the act of receiving further comprises an act of: selecting the set of ordered curves in space from a set of trajectories in the trajectory engine. 15. The apparatus of claim 14, wherein the act of selecting further comprises an act of: determining the set of trajectories from a set of ballistic trajectories in the trajectory engine. 16. The apparatus of claim 12, wherein the act of obtaining further comprises an act of: discretizing the first surface and the second directional surface, such that the first surface and the second directional surface comprises discrete points that represent the surfaces. 17. The apparatus of claim 12, wherein the act of determining a set of reachable points further comprises acts of: mapping the set of intersection points into a rectangular grid corresponding to order and direction, wherein each intersection point has an order value and a direction value; and determining for each direction value the smallest order value, wherein the direction value and smallest order value pair comprises one of the reachable points in the set of reachable points. 18. The apparatus of claim 12, wherein the act of determining a set of intersection points comprises an act of: using a computing device having a Z-buffer. 19. A computer program product for determining an area that is reachable from a first point, the computer program product comprising computer-readable instruction means encoded on a computer-readable medium that are executable by a computer having a processor for causing the processor to: define a first surface from a trajectory engine; render a topographical map from topographical map information utilizing a graphics engine; render the first surface utilizing a graphics engine; eliminate shadowed images utilizing a color buffer; obtain a second directional surface; determine a set of intersection points between the first surface and the second directional surface, wherein the set of intersection points has an order in a first dimension and a direction in a second dimension based on the directionality of the second directional surface; and determine a set of reachable points from the set of intersection points, wherein the set of reachable points has a point per order. 20. The computer program product of claim 19, wherein the instruction means for causing a computer to obtain a second directional surface further comprises instruction means for causing a computer to define the second directional surface by a set of ordered curves in space, in which the projection onto a plane of interest is non-intersecting. 21. The computer program product of claim 20, wherein the instruction means for causing a computer to define further comprises instruction means for causing a computer to select the set of ordered curves in space from a set of trajectories. 22. The computer program product of claim 21, wherein the instruction means for causing a computer to select further comprises instruction means for causing a computer to determine the set of trajectories from a set of ballistic trajectories. 23. The computer program product of claim 19, wherein the instruction means for causing a computer to obtain a first surface further comprises instruction means for causing a computer to select the first surface from a set of topological maps. 24. The computer program product of claim 19, wherein the instruction means for causing a computer to obtain further comprises instruction means for causing a computer to discretize the first surface and the second directional surface, such that the first surface and the second directional surface comprises discrete points that represent the surfaces. 25. The computer program product of claim 19, wherein the instruction means for causing a computer to determine a set of reachable points further comprises instruction means for causing a computer to: map the set of intersection points into a rectangular grid corresponding to order and direction, wherein each intersection point has an order value and a direction value; and determine for each direction value the smallest order value, wherein the direction value and smallest order value comprises one of the reachable points in the set of reachable points. 26. The computer program product of claim 19, wherein the instruction means for causing a computer to determine a set of intersection points further comprises instruction means for causing a computer to determine whether and where the first surface intersects the second surface using a Z-buffer. 27. The method of claim 1, further comprising acts of: selecting the first surface from a set of topological maps; and defining the second directional surface by a set of ordered curves in space, in which the projection onto a plane of interest is non-intersecting.

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System and method for computing reachable areas

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