METHOD AND SYSTEM FOR ALIGNING A LINE SCAN CAMERA WITH A LIDAR SCANNER FOR REAL TIME DATA FUSION IN THREE DIMENSIONS
First Claim
1. A method for aligning a line scan camera with a Light Detection and Ranging (LiDAR) scanner for real-time data fusion in three dimensions, the line scan camera and LiDAR scanner coupled to a computer processor for processing received data, the method comprising:
- a) capturing imaging data at the computer processor simultaneously from the line scan camera and the laser scanner from target object providing a plurality of scanning targets defined in an imaging plane perpendicular to focal axes of the line scan camera and the LiDAR scanner, wherein the plurality of scanning targets spaced horizontally along the imaging plane;
b) extracting x-axis and y-axis pixel locations of a centroid of each of the plurality of targets from captured imaging data;
c) determining LiDAR return intensity versus scan angle;
d) extracting scan angle locations of intensity peaks which correspond to individual targets from the plurality of targets; and
e) determining two axis parallax correction parameters, at a first nominal distance from the target object, by applying a least squares adjustment to determine row and column pixel locations of laser return versus scan angle wherein the determined correction parameters are provided to post processing software to correct for alignment differences between the imaging camera and LiDAR scanner for real-time colorization for acquired LiDAR data.
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Abstract
An apparatus and method for aligning a line scan camera with a Light Detection and Ranging (LiDAR) scanner for real-time data fusion in three dimensions is provided. Imaging data is captured at a computer processor simultaneously from the line scan camera and the laser scanner from target object providing scanning targets defined in an imaging plane perpendicular to focal axes of the line scan camera and the LiDAR scanner. X-axis and Y-axis pixel locations of a centroid of each of the targets from captured imaging data is extracted. LiDAR return intensity versus scan angle is determined and scan angle locations of intensity peaks which correspond to individual targets is determined. Two axis parallax correction parameters are determined by applying a least squares. The correction parameters are provided to post processing software to correct for alignment differences between the imaging camera and LiDAR scanner for real-time colorization for acquired LiDAR data.
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Citations
20 Claims
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1. A method for aligning a line scan camera with a Light Detection and Ranging (LiDAR) scanner for real-time data fusion in three dimensions, the line scan camera and LiDAR scanner coupled to a computer processor for processing received data, the method comprising:
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a) capturing imaging data at the computer processor simultaneously from the line scan camera and the laser scanner from target object providing a plurality of scanning targets defined in an imaging plane perpendicular to focal axes of the line scan camera and the LiDAR scanner, wherein the plurality of scanning targets spaced horizontally along the imaging plane; b) extracting x-axis and y-axis pixel locations of a centroid of each of the plurality of targets from captured imaging data; c) determining LiDAR return intensity versus scan angle; d) extracting scan angle locations of intensity peaks which correspond to individual targets from the plurality of targets; and e) determining two axis parallax correction parameters, at a first nominal distance from the target object, by applying a least squares adjustment to determine row and column pixel locations of laser return versus scan angle wherein the determined correction parameters are provided to post processing software to correct for alignment differences between the imaging camera and LiDAR scanner for real-time colorization for acquired LiDAR data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for providing real time data fusion in three dimensions of Light Detection and Ranging (LiDAR) data, the system comprising:
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a Light Detection and Ranging (LiDAR) scanner; a line scan camera providing a region of interest (ROI) extending horizontally across the imager of the line scan camera, the line scan camera and the LiDAR scanner aligned to be close to co-registered at given target object distance defined in an imaging plane perpendicular to focal axes of the line scan camera and the LiDAR scanner, the target object providing a plurality of scanning targets spaced horizontally along the imaging plane; a computer processor coupled to the LiDAR scanner and the line scan camera for receiving and processing data; a memory coupled to the computer processor, the memory providing instructions for execution by the computer processor, the instructions comprising; capturing imaging data simultaneously from line scan camera and laser scanner from the plurality of targets at the computer processor; extracting x and y pixel locations of a centroid of each of the plurality of targets from captured imaging data; determining LiDAR return intensity versus scan angle; extracting scan angle locations of intensity peaks which correspond to individual targets from the plurality of targets; determining correction parameters by applying a least squares adjustment to determine row and column (pixel location) of laser return versus scan angle; wherein the determined correction parameters are provided to a post processing software to correct for alignment differences between the imaging camera and LiDAR scanner for real-time colorization for acquired LiDAR data. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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Specification