LADAR data upsampling

• US 10,444,362 B2
• Filed: 01/13/2015
• Issued: 10/15/2019
• Est. Priority Date: 01/14/2014
• Status: Active Grant

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: Raytheon Company (Rtx Corporation)
• Inventors: Schaefer, Matthew A.
• Primary Examiner(s): Yang, Qian
• Application Number:
  US14/595,631
• Publication Number:
  US 20190227172A1
• Time in Patent Office: 1,736 Days
• Field of Search: 382100
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 3/4053 based on super-resolution, i.e. the output image resolution being higher than the sensor resolution
• CPC Class Codes: G06T 5/50 using two or more images, e.g. averaging or subtraction
• CPC Class Codes: G06T 7/30 Determination of transform parameters for the alignment of images, i.e. image registration

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.

Claims

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.

2. The system of claim 1, wherein the one or more processors are further adapted to:

generate a volume element within a portion of the area of interest;

determine a centroid position of all data points of the merged LADAR-edge point cloud and the upscaled data points contained within the volume element; and

generate an aggregate LADAR data point representing an aggregate height based upon each of the heights of data points contained within the volume element and an aggregate position given by the determined centroid position.

3. The system of claim 2, wherein the one or more processors are further adapted to store an upscaled merged LADAR-edge point cloud in the plurality of electronic data storage devices, the upscaled merged LADAR-edge point cloud comprising the merged LADAR-edge point cloud and the aggregate LADAR data point.

4. The system of claim 3, wherein the upscaled merged LADAR-edge point cloud does not include the plurality of upscaled data points.

5. The system of claim 1, wherein the first threshold value is at least 1.5 times a spacing of adjacent scan lines of the plurality of LADAR data points.

6. The system of claim 1, wherein the height of each of the plurality of upscaled data points is given by a linear interpolation between the first height and the second height.

7. The system of claim 1, wherein the position of each of the plurality of upscaled data points is given by a linear interpolation between the first position and the second position.

8. A method of upsampling LADAR data, comprising:

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.

9. The method of claim 8, further comprising, by the one or more processors:

generating a volume element within a portion of the area of interest;

determining a centroid position of all of the merged LADAR-edge point cloud and the upscaled data points contained within the volume element; and

generating an aggregate LADAR data point representing an aggregate height based upon each of the heights of the data points contained within the volume element and an aggregate position given by the determined centroid position.

10. The method of claim 8, wherein the one or more processors is further adapted to store an upscaled merged LADAR-edge point cloud in the plurality of electronic data storage devices the upscaled merged LADAR-edge point cloud comprising the merged LADAR-edge point cloud and the aggregate LADAR data point.

11. The method of claim 10, wherein the upscaled merged LADAR-edge point cloud does not include the plurality of upscaled data points.

12. The method of claim 8, wherein the first threshold value is at least 1.5 times a spacing of adjacent scan lines of the plurality of LADAR data points.

13. The method of claim 8, wherein the height of each of the plurality of upscaled data points is given by a linear interpolation between the first height and the second height.

14. The system of claim 8, wherein the position of each of the plurality of upscaled data points is given by a linear interpolation between the first position and the second position.

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:

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.

16. The computer-readable medium of claim 15, further including instructions that, when executed, cause the one or more processors to:

generate a volume element within a portion of the area of interest;

determine a centroid position of all of the merged LADAR-edge point cloud and the upscaled data points contained within the volume element; and

generate an aggregate LADAR data point representing an aggregate height based upon each of the heights of the data points contained within the volume element and an aggregate position given by the determined centroid position.

17. The computer-readable medium of claim 15, further including instructions that, when executed by the one or more processors, cause the one or more processors to store an upscaled merged LADAR-edge point cloud in the plurality of electronic data storage devices, the upscaled merged LADAR-edge point cloud comprising the merged LADAR-edge point cloud and the aggregate LADAR data point.

18. The computer-readable medium of claim 17, wherein the upscaled merged LADAR-edge point cloud does not include the plurality of upscaled data points.

19. The computer-readable medium of claim 15, wherein the first threshold spacing is at least 1.5 times a spacing of adjacent scan lines of the plurality of LADAR data points.

20. The computer-readable medium of claim 15, wherein the height of each of the plurality of upscaled data points is given by a linear interpolation between the first height and the second height.

21. The computer-readable medium of claim 15, wherein the position of each of the plurality of upscaled data points is given by a linear interpolation between the first position and the second position.