Systems and methods for processing mapping and modeling data

• US 20110282622A1
• Filed: 02/03/2011
• Published: 11/17/2011
• Est. Priority Date: 02/05/2010
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Canter, Peter
• Granted Patent: US 9,008,998 B2
• Time in Patent Office: Days
• US Class Current: 702/150
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G06T 19/20 Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 5/70 Denoising; Smoothing
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 7/75 involving models
• CPC Class Codes: G06V 20/36 Indoor scenes

Abstract

A method for post-processing georeferenced mapping data includes providing positioning data indicating a position of a data acquisition system in a defined space at specific moments in time, providing ranging data indicating relative position of objects in the defined space with respect to the data acquisition system at the specific moments in time, performing a smoothing process on the positioning data to determine smoothed best estimate of trajectory (SBET) data for trajectory of the data acquisition system, performing a scan matching process on the SBET data and the ranging data to identify objects and/or object features in the defined space, performing a process to revise the SBET data so that the SBET data aligns with the identified objects and/or object features and storing the revised SBET data with the range data.

Claims

1. A method for post-processing georeferenced mapping data comprising:

providing positioning data indicating a position of a data acquisition system in a defined space at specific moments in time;

providing ranging data indicating relative position of objects in the defined space with respect to the data acquisition system at the specific moments in time;

performing a smoothing process on the positioning data to determine smoothed best estimate of trajectory (SBET) data for trajectory of the data acquisition system;

performing a scan matching process on the SBET data and the ranging data to identify objects and/or object features in the defined space;

performing a process to revise the SBET data so that the SBET data aligns with the identified objects and/or object features; and

storing the revised SBET data with the range data.

2. The method of claim 1, further comprising generating a point cloud using the revised SBET data and the range data.

3. The method of claim 2, further comprising providing image data of the defined space at the specific moments in time.

4. The method of claim 3, further comprising overlaying the image data over the generated point cloud to create an image map of the defined space.

5. The method of claim 4, further comprising outputting the image map.

6. The method of claim 1, wherein the scan matching process identifies linear features in the defined space.

7. The method of claim 6, further comprising revising the SBET data so that the identified linear features remain linear.

8. The method of claim 1, wherein the objects and/or object features identified utilizing the scan matching process comprise at least one of walls, wall corners, doors, door edges, furniture and furniture edges.

9. The method of claim 1, wherein the range data comprises data collected by a light detection and ranging laser ranging system (LIDAR).

10. The method of claim 1, wherein the range data comprises data collected from at least one image taken by a camera.

11. The method of claim 1, wherein the positioning data comprises data collected by at least one of an odometry system and/or inertial measurement system.

12. A system for post-processing georeferenced mapping data comprising:

storage for storing positioning data indicating a position of a data acquisition system in a defined space at specific moments in time;

storage for storing ranging data indicating relative position of objects in the defined space with respect to the data acquisition system at the specific moments in time;

a smoothing processor for performing a smoothing process on the positioning data to determine smoothed best estimate of trajectory (SBET) data for trajectory of the data acquisition system;

a scan matching processor for performing a scan matching process on the SBET data and the ranging data to identify objects and/or object features in the defined space;

a revising processor for revising the SBET data so that the SBET data aligns with the identified objects and/or object features; and

storage for storing the revised SBET data with the range data.

13. The system of claim 12, further comprising a point cloud generator for generating a point cloud using the revised SBET data and the range data.

14. The system of claim 13, further comprising an image data provider for providing image data of the defined space at the specific moments in time.

15. The system of claim 14, further comprising an image map creator for overlaying the image data over the generated point cloud to create an image map of the defined space.

16. The system of claim 15, further comprising an output for outputting the image map.

17. The system of claim 12, wherein the scan matching processor identifies linear features in the defined space.

18. The system of claim 17, wherein the revising processor further revises the SBET data so that the identified linear features remain linear.

19. The system of claim 12, wherein the objects and/or object features identified utilizing the scan matching processor comprise at least one of walls, wall corners, doors, door edges, furniture and furniture edges.

20. The system of claim 12, wherein the range data comprises data collected by a light detection and ranging laser ranging system (LIDAR).

21. The system of claim 12, wherein the range data comprises data collected from at least one image taken by a camera.

22. The system of claim 12, wherein the positioning data comprises data collected by at least one of an odometry system and/or inertial measurement system.

23. A computer recording medium including computer executable code for post-processing georeferenced mapping data, the computer executable code comprising:

code for retrieving positioning data indicating a position of a data acquisition system in a defined space at specific moments in time;

code for retrieving ranging data indicating relative position of objects in the defined space with respect to the data acquisition system at the specific moments in time;

code for performing a smoothing process on the positioning data to determine smoothed best estimate of trajectory (S BET) data for trajectory of the data acquisition system;

code for performing a scan matching process on the SBET data and the ranging data to identify objects and/or object features in the defined space;

code for performing a process to revise the SBET data so that the SBET data aligns with the identified objects and/or object features; and

code for storing the revised SBET data with the range data.

24. The computer recording medium of claim 23, further comprising code for generating a point cloud using the revised SBET data and the range data.

25. The computer recording medium of claim 24, further comprising code for providing image data of the defined space at the specific moments in time.

26. The computer recording medium of claim 25, further comprising code for overlaying the image data over the generated point cloud to create an image map of the defined space.

27. The computer recording medium of claim 26, further comprising code for outputting the image map.

28. The computer recording medium of claim 23, wherein the code for the scan matching process identifies linear features in the defined space.

29. The computer recording medium of claim 28, further comprising code for revising the SBET data so that the identified linear features remain linear.

30. The computer recording medium of claim 23, wherein the objects and/or object features identified utilizing the scan matching process comprise at least one of walls, wall corners, doors, door edges, furniture and furniture edges.

31. The computer recording medium of claim 23, wherein the range data comprises data collected by a light detection and ranging laser ranging system (LIDAR).

32. The computer recording medium of claim 23, wherein the range data comprises data collected from at least one image taken by a camera.

33. The computer recording medium of claim 23, wherein the positioning data comprises data collected by at least one of an odometry system and inertial measurement system.