In some implementations, a method includes: determining a complexity value for first image data associated with of a physical environment that corresponds to a first time period; determining an estimated composite setup time based on the complexity value for the first image data and virtual content for compositing with the first image data; in accordance with a determination that the estimated composite setup time exceeds the threshold time: forgoing rendering the virtual content from the perspective that corresponds to the camera pose of the device relative to the physical environment during the first time period; and compositing a previous render of the virtual content for a previous time period with the first image data to generate the graphical environment for the first time period.

A system and a method are disclosed for varying a pixel-rate functionality of a GPU as an optional feature without an explicit implementation from within an application. User interface (UI) content may be detected in a draw call of an application and a variable-rate shader lookup map may be generated based on the detected UI content. A pixel rate of 3D content may be increased using the variable-rate shader lookup map. Additionally or alternatively, other conditions may be detected for increasing the pixel rate, such as using information in an application profile, detecting high or low luminance values, detecting motion and/or detecting temporal anti-aliasing.

A system and a method are disclosed for varying a pixel-rate functionality of a GPU as an optional feature without an explicit implementation from within an application. User interface (UI) content may be detected in a draw call of an application and a variable-rate shader lookup map may be generated based on the detected UI content. A pixel rate of 3D content may be increased using the variable-rate shader lookup map. Additionally or alternatively, other conditions may be detected for increasing the pixel rate, such as using information in an application profile, detecting high or low luminance values, detecting motion and/or detecting temporal anti-aliasing.

An autonomous robotic vehicle is capable of detecting, identifying, and locating the source of gas leaks such as methane. Because of the number of operating components within the vehicle, it may also be considered a robotic system. The robotic vehicle can be remotely operated or can move autonomously within a jobsite. The vehicle selectively deploys a source detection device that precisely locates the source of a leak. The vehicle relays data to stakeholders and remains powered that enables operation of the vehicle over an extended period. Monitoring and control of the vehicle is enabled through a software interface viewable to a user on a mobile communications device or personal computer.

An autonomous robotic vehicle is capable of detecting, identifying, and locating the source of gas leaks such as methane. Because of the number of operating components within the vehicle, it may also be considered a robotic system. The robotic vehicle can be remotely operated or can move autonomously within a jobsite. The vehicle selectively deploys a source detection device that precisely locates the source of a leak. The vehicle relays data to stakeholders and remains powered that enables operation of the vehicle over an extended period. Monitoring and control of the vehicle is enabled through a software interface viewable to a user on a mobile communications device or personal computer.

Disclosed embodiments relate to controlling sets of graphics work (e.g., kicks) assigned to graphics processor circuitry. In some embodiments, tracking slot circuitry implements entries for multiple tracking slots. Slot manager circuitry may store, using an entry of the tracking slot circuitry, software-specified information for a set of graphics work, where the information includes: type of work, dependencies on other sets of graphics work, and location of data for the set of graphics work. The slot manager circuitry may prefetch, from the location and prior to allocating shader core resources for the set of graphics work, configuration register data for the set of graphics work. Control circuitry may program configuration registers for the set of graphics work using the prefetched data and initiate processing of the set of graphics work by the graphics processor circuitry according to the dependencies. Disclosed techniques may reduce kick-to-kick transition time, in some embodiments.

Disclosed embodiments relate to controlling sets of graphics work (e.g., kicks) assigned to graphics processor circuitry. In some embodiments, tracking slot circuitry implements entries for multiple tracking slots. Slot manager circuitry may store, using an entry of the tracking slot circuitry, software-specified information for a set of graphics work, where the information includes: type of work, dependencies on other sets of graphics work, and location of data for the set of graphics work. The slot manager circuitry may prefetch, from the location and prior to allocating shader core resources for the set of graphics work, configuration register data for the set of graphics work. Control circuitry may program configuration registers for the set of graphics work using the prefetched data and initiate processing of the set of graphics work by the graphics processor circuitry according to the dependencies. Disclosed techniques may reduce kick-to-kick transition time, in some embodiments.

A method for processing image or video data is performed in an image processing pipeline. Color filtered mosaiced raw image or video data is received. A one-level wavelet transform of subbands of the color filtered mosaiced raw image or video data to provide LL, HH, LH and HL subbands. The LH and HL subbands are de-correlated by summing and difference operations to provide decorrelated sum and difference subbands. Additional n-level wavelet transformation on the sum and difference subbands and the LL and HH subbands to provide sparsified subbands for encoding. LL and HH and sum subbands are recombined into standard color images e.g., red, green, and blue color components, which are subsequently processed by color correction, white balance, and gamma correction. The sparsified subbands are encoded.

A method for processing image or video data is performed in an image processing pipeline. Color filtered mosaiced raw image or video data is received. A one-level wavelet transform of subbands of the color filtered mosaiced raw image or video data to provide LL, HH, LH and HL subbands. The LH and HL subbands are de-correlated by summing and difference operations to provide decorrelated sum and difference subbands. Additional n-level wavelet transformation on the sum and difference subbands and the LL and HH subbands to provide sparsified subbands for encoding. LL and HH and sum subbands are recombined into standard color images e.g., red, green, and blue color components, which are subsequently processed by color correction, white balance, and gamma correction. The sparsified subbands are encoded.

A vehicle generates a city-scale map. The vehicle includes one or more Lidar sensors configured to obtain point clouds at different positions, orientations, and times, one or more processors, and a memory storing instructions that, when executed by the one or more processors, cause the system to perform registering, in pairs, a subset of the point clouds based on respective surface normals of each of the point clouds; determining loop closures based on the registered subset of point clouds; determining a position and an orientation of each of the subset of the point clouds based on constraints associated with the determined loop closures; and generating a map based on the determined position and the orientation of each of the subset of the point clouds.