System and Method for Manipulating Data Having Spatial Co-ordinates

• US 20130202197A1
• Filed: 06/10/2011
• Published: 08/08/2013
• Est. Priority Date: 06/11/2010
• Status: Abandoned Application

• Current Assignee: Andrey Zaretskiy, Borys Vorobyov, Dmitry Kulakov, Dmytro Gordon, Edmund Cochrane Reeler, James Andrew Estill, Kresimir Kusevic, Oleksandr Monastyrev, Yuriy Monastyrev
• Original Assignee: Andrey Zaretskiy, Borys Vorobyov, Dmitry Kulakov, Dmytro Gordon, Edmund Cochrane Reeler, James Andrew Estill, Kresimir Kusevic, Oleksandr Monastyrev, Yuriy Monastyrev
• Inventors: Kusevic, Kresimir, Kulakov, Dmitry, Vorobyov, Borys, Monastyrev, Oleksandr, Gordon, Dmytro, Monastyrev, Yuriy, Zaretskiy, Andrey, Reeler, Edmund Cochrane, Estill, James Andrew
• Application Number:
  US13/703,550
• Publication Number:
  US 20130202197A1
• Time in Patent Office: Days
• US Class Current: 382/154
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G06F 21/105 Arrangements for software license management or administration, e.g. for managing licenses at corporate level
• CPC Class Codes: G06T 1/0007 Image acquisition
• CPC Class Codes: G06T 15/20 Perspective computation
• CPC Class Codes: G06T 17/05 Geographic models
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2210/56 Particle system, point based geometry or rendering
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06V 20/64 Three-dimensional objects

Abstract

Systems and methods are provided for extracting various features from data having spatial coordinates. The systems and methods may identify and extract data points from a point cloud, where the data points are considered to be part of the ground surface, a building, or a wire (e.g. power lines). Systems and methods are also provided for enhancing a point cloud using external data (e.g. images and other point clouds), and for tracking a moving object by comparing images with a point cloud. An objects database is also provided which can be used to scale point clouds to be of similar size. The objects database can also be used to search for certain objects in a point cloud, as well as recognize unidentified objects in a point cloud.

Claims

1. A method for a computing device to enhance a set of data points with three-dimensional spatial coordinates using an image captured by a camera device, the method comprising:

the computing device obtaining the image, the image comprising pixels, each of the pixels associated with a data value;

the computing device generating mapping information for associating one or more data points and one or more corresponding pixels; and

the computing device modifying the set of data points using the mapping information and the data values of the one or more corresponding pixels.

2. The method of claim 1, wherein generating mapping information comprises:

obtaining one or more interior orientation parameters of the camera device;

obtaining one or more exterior orientation parameters of the camera device; and

projecting a line of sight from the one or more data points onto the one or more corresponding pixels using at least one of the one or more interior orientation parameters and the one or more exterior orientation parameters.

3. The method of claim 1, wherein modifying the set of data points using the mapping information comprises associating one or more data points with the data value of the corresponding pixel.

4. The method of claim 1, wherein modifying the set of data points using the mapping information comprises:

adding a new data point for an existing data point, the existing data point being one of the one or more data points and having a corresponding pixel, the new data point having the same spatial coordinates as the existing data point; and

associating the new data point with the data value of the corresponding pixel.

5. The method of claim 1, wherein generating mapping information comprises:

obtaining one or more interior orientation parameters of the camera device;

obtaining one or more exterior orientation parameters of the camera device;

generating a triangulated surface using the set of data points; and

projecting a line of sight from one or more pixels onto one or more corresponding locations on the triangulated surface using at least one of the one or more interior orientation parameters and the one or more exterior orientation parameters.

6. The method of claim 5, wherein modifying the set of data points using the mapping information comprises:

adding a new data point to the set of data points, the new data point located at one of the one or more corresponding locations on the triangulated surface; and

associating the new data point with the data value of the pixel corresponding to the location of the new data point.

7. The method of claim 1, wherein modifying the set of data points using the mapping information comprises:

identifying one or more data points not having a corresponding pixel; and

modifying the one or more data points not having a corresponding pixel based on one or more data points associated with the data values of the one or more corresponding pixels.

8. The method of claim 7, wherein modifying the one or more data points not having a corresponding pixel comprises associating the one or more data points not having a corresponding pixel with information interpolated from the one or more data points associated with the data values of the one or more corresponding pixels.

9. The method of claim 1, wherein generating mapping information further comprises generating a base model of one or more data points corresponding to at least a portion of the image.

10. (canceled)

11. A method for a computing device to enhance a set of data points with three-dimensional spatial coordinates using a set of ancillary data points with three-dimensional spatial coordinates, the method comprising:

the computing device obtaining the set of ancillary data points, each ancillary data point associated with a data value;

the computing device generating mapping information for transforming the set of ancillary data points to be compatible with the set of data points; and

the computing device modifying the set of data points using the mapping information.

12. The method of claim 11, wherein generating mapping information comprises:

identifying three or more data points with a corresponding ancillary data point; and

obtaining a set of transformation parameters based on the three or more data points and the corresponding ancillary data points.

13. The method of claim 12, wherein the set of transformation parameters comprise x-translation, y-translation, z-translation, rotation about an x-axis, rotation about a y-axis, rotation about a z-axis, and a scale factor.

14. The method of claim 11, wherein modifying the set of data points using the mapping information comprises:

transforming one or more ancillary data points to be compatible with the set of data points using the mapping information; and

adding the transformed one or more ancillary data points to the set of data points.

15. The method of claim 11, wherein modifying the set of data points using the mapping information comprises:

transforming one or more ancillary data points to be compatible with the set of data points using the mapping information; and

associating one or more data points with information interpolated from one or more of the transformed ancillary data points.

16. The method of claim 11, wherein data points are associated with a different data type than the ancillary data points.

17. (canceled)

18. A method for a computing device to track a moving object in a set of data points with three-dimensional spatial coordinates, the method comprising:

the computing device obtaining a first image of the moving object, the first image comprising pixels and captured by a camera device;

the computing device identifying a tracking point in the first image with a corresponding pixel; and

the computing device adding a first data point corresponding in location and time to the tracking point in the first image.

19-24. -24. (canceled)

25. A method of licensing data between a vendor server having a vendor computing device and a user having a user computing device, the method comprising:

the vendor computing device obtaining the data;

the vendor computing device formatting the data; and

the vendor computing device associating a licence with the formatted data, the licence including one or more criteria to permit access to the formatted data.

26-31. -31. (canceled)

32. A method for a computing device to transform a first set of data points with three-dimensional spatial coordinates, the method comprising:

the computing device selecting a first portion of the first set of data points, the first portion having a first property;

the computing device obtaining a second set of data points with three-dimensional spatial coordinates;

the computing device selecting a second portion of the second set of data points, the second portion having a second property;

the computing device generating transformation information for transforming the first portion such that the first property is substantially equal to the second property of the second portion; and

the computing device modifying the first set of data points using the transformation information.

33-38. -38. (canceled)

39. A method for a computing device to search for an object in a set of data points with three-dimensional spatial coordinates, the method comprising:

the computing device comparing a subset of data points to the object; and

the computing device identifying the subset of data points as the object if the subset of data points matches the object within a first tolerance.

40-45. -45. (canceled)

46. A method for a computer device to recognize a first object in a first set of data points with three-dimensional spatial coordinates, the method comprising:

the computing device comparing a second object in a second set of data points to the first object; and

the computing device identifying the first object as the second object if the first object matches the second object within a first tolerance.

47-59. -59. (canceled)