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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
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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