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Generating 3-dimensional maps of a scene using passive and active measurements

  • US 10,024,965 B2
  • Filed: 03/31/2016
  • Issued: 07/17/2018
  • Est. Priority Date: 04/01/2015
  • Status: Active Grant
First Claim
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1. A method for acquiring three-dimensional (3D) maps, comprising:

  • analyzing at least one image acquired by a passive sensor to identify a plurality of objects in the at least one image;

    classifying the plurality of objects as any of;

    a stationary object, a non-stationary object, a suspicious object, and a non-suspicious object;

    determining, based on the classification, whether to passively measure a distance to each of the plurality of objects;

    passively measuring the distance to at least one of the plurality of objects based on the determination;

    wherein the distance to the at least one object is passively measured, for each object classified as a stationary object, when a previous distance to the object is not available;

    actively measuring a distance to some of the plurality of objects, wherein the distance to one of the same of the plurality of objects is actively measured when the distance to the object cannot be passively measured; and

    generating a 3D map of a scene based on the distance measured to each of the plurality of objects.

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