SURFACE DETECTION IN IMAGES BASED ON SPATIAL DATA
First Claim
1. A method for detecting surfaces in image data based on spatial data, comprising:
- obtaining spatial data representing one or more surfaces of objects in a scene, said spatial data comprising a plurality of three-dimensional (3-D) point cloud data points;
obtaining an empirical probability density function (PDF) for said spatial data;
generating a globally smooth estimated PDF based on said empirical PDF and a kernel smoothing technique;
ascertaining one or more threshold elevation values for at least one mode in said estimated PDF;
tagging one or more portions of said plurality of 3-D point cloud data points corresponding to said at least one mode based on said threshold elevation values; and
generating a display of said surfaces using at least a portion of said spatial data using one or more color space values, wherein at least one of said portion of said spatial data and said color space values for said portion of said spatial data are selected based on said tagging.
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Abstract
A system and method are provided for detecting surfaces in image data based on spatial data. The method includes obtaining an empirical probability density function (PDF) for the spatial data, where the spatial data includes a plurality of three-dimensional (3-D) point cloud data points associated with a plurality of default color space values. The method also includes generating a globally smooth estimated PDF based on the empirical PDF and a kernel smoothing technique, ascertaining one or more threshold elevation values for at least one mode in the estimated PDF, and tagging one or more portions of plurality of 3-D point cloud data points corresponding to the at least one mode based on the threshold elevation values.
92 Citations
22 Claims
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1. A method for detecting surfaces in image data based on spatial data, comprising:
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obtaining spatial data representing one or more surfaces of objects in a scene, said spatial data comprising a plurality of three-dimensional (3-D) point cloud data points; obtaining an empirical probability density function (PDF) for said spatial data; generating a globally smooth estimated PDF based on said empirical PDF and a kernel smoothing technique; ascertaining one or more threshold elevation values for at least one mode in said estimated PDF; tagging one or more portions of said plurality of 3-D point cloud data points corresponding to said at least one mode based on said threshold elevation values; and generating a display of said surfaces using at least a portion of said spatial data using one or more color space values, wherein at least one of said portion of said spatial data and said color space values for said portion of said spatial data are selected based on said tagging. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for detecting surfaces in image data based on spatial data, comprising:
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a storage element for receiving spatial data representing one or more surfaces of objects in a scene, said spatial data comprising a plurality of three-dimensional (3-D) point cloud data points associated with one or more default color space values; and a processing element communicatively coupled to said storage element, said processing element configured for obtaining an empirical probability density function (PDF) based on said spatial data, generating a globally smooth estimated PDF based on said empirical PDF and a kernel smoothing technique, ascertaining one or more threshold elevation values for at least one mode in said estimated PDF, tagging one or more portions of said spatial data corresponding to said at least one mode based on said threshold elevation values, and modifying at least a portion of said default color space values based on said tagging for use in generating a display of said surfaces using said spatial data. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification