Lidar-Assisted Stero Imager
First Claim
1. A system for asynchronously capturing correlatable lidar and EO imagery data to generate a model of a subject matter, the system comprising:
- a computer-readable storage media;
a lidar;
an electro-optical (EO) imaging device;
a system controller comprising a processor, the system controller communicatively coupled to the computer-readable storage media, the lidar, and the EO imaging device,wherein the system controller is configured to cause the lidar to capture a plurality of lidar shots of the subject matter at a lidar capture rate and to cause the EO imaging device to capture a plurality of overlapping EO images of the subject matter at an EO image capture rate, andwherein the system controller is configured to acquire navigation data as the lidar shots and the EO images are captured; and
a modeler communicatively coupled to the system controller, the modeler configured to generate a model of the subject matter based on the plurality of overlapping EO images using a stereo imaging technique, wherein the stereo imaging technique is seeded using the lidar shots.
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Accused Products
Abstract
A lidar and one or more electro-optical (EO) imaging device may asynchronously acquire lidar shots and EO images. Navigation data comprising positioning, orientation, acceleration, and/or velocity information may be acquired as the lidar and EO data is captured. The lidar shots, EO images, and/or navigation data may be time stamped. The navigation and timing data may be used to associate a particular lidar shot and/or EO image with navigation data. The EO images may be captured at a higher capture rate and at a higher spatial resolution than the lidar shots. The navigation data may be used to cross correlate a lidar shot to a selected plurality of overlapping EO images. Ranging model information may be determined from EO image sequences using a stereo imaging technique. The stereo imaging technique may be seeded using the lidar shot data.
33 Citations
28 Claims
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1. A system for asynchronously capturing correlatable lidar and EO imagery data to generate a model of a subject matter, the system comprising:
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a computer-readable storage media; a lidar; an electro-optical (EO) imaging device; a system controller comprising a processor, the system controller communicatively coupled to the computer-readable storage media, the lidar, and the EO imaging device, wherein the system controller is configured to cause the lidar to capture a plurality of lidar shots of the subject matter at a lidar capture rate and to cause the EO imaging device to capture a plurality of overlapping EO images of the subject matter at an EO image capture rate, and wherein the system controller is configured to acquire navigation data as the lidar shots and the EO images are captured; and a modeler communicatively coupled to the system controller, the modeler configured to generate a model of the subject matter based on the plurality of overlapping EO images using a stereo imaging technique, wherein the stereo imaging technique is seeded using the lidar shots. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method for asynchronously capturing correlatable lidar data and EO imagery data to develop a model of a subject matter therefrom, the method comprising:
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a lidar capturing a plurality of lidar shots of the subject matter; an EO imaging device capturing a plurality of overlapping EO images of the subject matter, wherein the lidar and the EO imaging device are configured to capture lidar shots and EO images asynchronously; acquiring navigation data as the lidar shots and EO images are captured; associating the plurality of lidar shots and the plurality of overlapping EO images with respective navigation data; generating a model of the subject matter based on the plurality of overlapping EO images using a stereo imaging technique, wherein the stereo imaging technique is seeded using one or more of the plurality of lidar shots. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. The method of 24, further comprising:
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time stamping each of the lidar shots with a time the lidar shot was captured; time stamping the navigation data with a time the navigation data was acquired; and associating a lidar shot with navigation data using the time stamp of the lidar shot and the time stamp of the navigation data. - View Dependent Claims (26)
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27. A computer-readable storage medium comprising instructions to cause a computing device to perform a method for asynchronously capturing correlatable lidar and EO imagery data to generate a model of a subject matter, the method comprising:
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a lidar capturing a plurality of lidar shots of the subject matter, wherein each of the lidar shots comprises a time stamp indicating the time the lidar shot was captured; an EO imaging device capturing a plurality of overlapping EO images of the subject matter, wherein each of the EO images comprises a time stamp indicating the time the EO image was captured, wherein the lidar shots and EO images are captured asynchronously; acquiring time stamped navigation data as the lidar shots and EO images are captured, wherein the navigation data comprises an orientation of the lidar and an orientation of the EO imaging device; mapping a particular lidar shot onto a selected plurality of overlapping EO images using the navigation data; and seeding a stereo imaging technique using the mapping.
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28. A system for asynchronously capturing correlatable lidar and EO imagery data to generate a model of a subject matter, the system comprising:
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a computer-readable storage media; a lidar; two or more electro-optical (EO) imaging devices; a system controller comprising a processor, the system controller communicatively coupled to the computer-readable storage media, the lidar, and the two or more electro-optical (EO) imaging devices, wherein the system controller is configured to cause the lidar to capture a plurality of lidar shots of the subject matter at a lidar capture rate and to cause the two or more electro-optical (EO) imaging devices to capture a plurality of overlapping EO images of the subject matter at an EO image capture rate, and wherein the system controller is configured to acquire navigation data as the lidar shots and the EO images are captured; and a modeler communicatively coupled to the system controller, the modeler configured to generate a model of the subject matter based on the plurality of overlapping EO images using a stereo imaging technique, wherein the stereo imaging technique is seeded using the lidar shots.
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Specification