LADAR data upsampling
First Claim
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1. A system for upsampling LADAR data, comprising:
- a plurality of electronic data storage devices maintaining a merged LADAR-edge point cloud comprising;
a plurality of LADAR data points, each of the LADAR data points representing a height as a function of a position within an area of interest; and
a plurality of edge data points, each of the edge data points representing a height as a function of a position for boundaries of objects within the area of interest; and
one or more processors in communication with the plurality of electronic data storage devices, the one or more processors adapted to;
select a first LADAR data point from the merged LADAR-edge point cloud, the first LADAR data point including a first height at a first position;
select a second data point from the merged LADAR-edge point cloud, the second data point including a second height at a second position, wherein the second data point is either a LADAR data point or an edge data point and is selected such that;
the second position differs from the first position by less than or equal to a first threshold value; and
the second height differs from the first height by less than or equal to a second threshold value; and
generate a plurality of upscaled data points, wherein each of the plurality of upscaled data points represents an upscaled height interpolated between the first height and the second height and an upscaled position interpolated between the first position and the second position.
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Abstract
Systems and processes for increasing the effective sampling density of a LADAR data set are disclosed. LADAR data points are merged with data regarding edges of objects within the physical space represented by the LADAR data points to form a merged LADAR-edge point cloud. Each data point within the merged LADAR-edge point cloud is examined to identify co-planar neighboring data points within a defined search area. Additional data points are added to the LADAR-edge point cloud by interpolating between the identified, co-planar neighboring data points.
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Citations
21 Claims
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1. A system for upsampling LADAR data, comprising:
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a plurality of electronic data storage devices maintaining a merged LADAR-edge point cloud comprising; a plurality of LADAR data points, each of the LADAR data points representing a height as a function of a position within an area of interest; and a plurality of edge data points, each of the edge data points representing a height as a function of a position for boundaries of objects within the area of interest; and one or more processors in communication with the plurality of electronic data storage devices, the one or more processors adapted to; select a first LADAR data point from the merged LADAR-edge point cloud, the first LADAR data point including a first height at a first position; select a second data point from the merged LADAR-edge point cloud, the second data point including a second height at a second position, wherein the second data point is either a LADAR data point or an edge data point and is selected such that; the second position differs from the first position by less than or equal to a first threshold value; and the second height differs from the first height by less than or equal to a second threshold value; and generate a plurality of upscaled data points, wherein each of the plurality of upscaled data points represents an upscaled height interpolated between the first height and the second height and an upscaled position interpolated between the first position and the second position. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of upsampling LADAR data, comprising:
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obtaining, by one or more processors, a merged LADAR-edge point cloud comprising; a plurality of LADAR data points, each of the LADAR data points representing a height as a function of a position within an area of interest; and a plurality of edge data points, each of the edge data points representing height as a function of a position for boundaries of objects within the area of interest; selecting, by the one or more processors, a first LADAR data point from the merged LADAR-edge point cloud, the first LADAR data point including a first height at a first position; selecting, by the one or more processors, a second data point from the merged LADAR-edge point cloud, the second data point including a second height at a second position, wherein the second data point is either a LADAR data point or an edge data point and is selected such that; the second position differs from the first position by less than or equal to a first threshold value; and the second height differs from the first height by less than or equal to a second threshold value; and generating, by the one or more processors, a plurality of upscaled data points, wherein each of the plurality of upscaled data points represents an upscaled height interpolated between the first height and the second height and an upscaled position interpolated between the first position and the second position. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A non-transitory, computer-readable medium having computer-readable program codes embedded thereon for upsampling LADAR data, the computer-readable program codes including instructions that, when executed by one or more processors, cause the one or more processors to:
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obtain a merged LADAR-edge point cloud comprising; a plurality of LADAR data points, each of the LADAR data points representing a height as a function of a position within an area of interest; and a plurality of edge data points, each of the edge data points representing height as a function of position for boundaries of objects within the area of interest; select a first LADAR data point from the merged LADAR-edge point cloud, the first LADAR data point representing a first height at a first position; select a second data point from the merged LADAR-edge point cloud, the second data point representing a second height at a second position; wherein the second data point is either a LADAR data point or an edge point and is selected such that; the second position differs from the first position by less than or equal to a first threshold value; the second height differs from the first height by less than or equal to a second threshold value; and generate a plurality of upscaled data points, wherein each of the plurality of upscaled data points represents an upscaled height interpolated between the first height and the second height and an upscaled position interpolated between the first position and the second position. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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Specification