SYNTHETIC VISION SYSTEMS AND METHODS FOR DISPLAYING DETACHED OBJECTS

• US 20130257852A1
• Filed: 04/02/2012
• Published: 10/03/2013
• Est. Priority Date: 04/02/2012
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Baughman, David, Meeker, John, Cunningham, John
• Granted Patent: US 9,347,793 B2
• Time in Patent Office: Days
• US Class Current: 345/419
• CPC Class Codes: G01C 21/3638 including 3D objects and buildings three dimensional [3D] modelling, e.g. data description of 3D objects G06T17/00; geographic models G06T17/05
• CPC Class Codes: G01C 23/00 Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
• CPC Class Codes: G01S 13/935 for terrain-avoidance
• CPC Class Codes: G01S 17/933 of aircraft or spacecraft
• CPC Class Codes: G01S 7/20 Stereoscopic displays; Three-dimensional displays; Pseudo-three-dimensional displays
• CPC Class Codes: G06T 15/00 3D [Three Dimensional] image rendering
• CPC Class Codes: G06T 15/08 Volume rendering
• CPC Class Codes: G06T 17/00 Three dimensional [3D] modelling, e.g. data description of 3D objects
• CPC Class Codes: G06T 17/05 Geographic models
• CPC Class Codes: G06T 19/00 Manipulating 3D models or images for computer graphics

Abstract

A display system is provided for a vehicle. The display system includes a data source configured to provide terrain data with detached objects that are detached from ground terrain and attached objects that are attached to ground terrain; a processing unit coupled to the data source configured to receive the terrain data and to distinguish the detached objects from the attached objects to generate display commands for a three-dimensional view that comprises graphical elements representing both the detached objects and the attached objects; and a display device coupled to the processing unit and configured to receive the display commands and operable to render the common three-dimensional view to thereby allow viewing of the detached objects and the attached objects.

Claims

1. A display system for a vehicle, comprising:

a data source configured to provide terrain data with detached objects that are detached from ground terrain and attached objects that are attached to ground terrain;

a processing unit coupled to the data source configured to receive the terrain data and to distinguish the detached objects from the attached objects to generate display commands for a three-dimensional view that comprises graphical elements representing both the detached objects and the attached objects; and

a display device coupled to the processing unit and configured to receive the display commands and operable to render the common three-dimensional view to thereby allow viewing of the detached objects and the attached objects.

2. The display system of claim 1, wherein the processing unit is configured to generate a three-dimensional occupancy grid based on the terrain data.

3. The display system of claim 2, wherein the processing unit is further configured to extract the detached objects from the three-dimensional occupancy grid.

4. The display system of claim 1, wherein the processing unit is further configured to modify an appearance of the detached objects relative to the attached objects.

5. The display system of claim 4, wherein the processing unit is further configured to modify the appearance of the detached objects by modifying at least one of relative size, color, and shading.

6. The display system of claim 1, wherein the processing unit is further configured to generate the display commands with a tether extending from each of the detached objects to a corresponding terrain location.

7. The display system of claim 1, wherein the data source is a sensor.

8. The display system of claim 1, wherein the display device is a Primary Flight Display (PFD).

9. The display system of claim 1, wherein the display device is a Multi-Function Display (MFD).

10. A method for displaying terrain data, the method comprising:

receiving terrain data from a data source;

generating a collection of points in a point cloud of a three-dimensional field of view (FOV);

identifying detached objects in the point cloud;

generating display commands corresponding to the three-dimensional field of view (FOV) with the detached objects; and

displaying the detached objects within the three-dimensional FOV on a display device.

11. The method of claim 10, further comprising modifying an appearance of the detached objects relative to attached objects in the point cloud.

12. The method of claim 11, wherein the modifying step includes modifying at least one of relative size, color, and shading.

13. The method of claim 11, further comprising generating display commands that include a tether extending from each of the detached objects to a corresponding terrain location.

14. The method of claim 10, wherein the displaying step includes displaying the three-dimensional FOV on a Primary Flight Display (PFD).

15. The method of claim 10, wherein the displaying step includes displaying the three-dimensional FOV on a Multi-Function Display (MFD).

16. The method of claim 10, wherein the receiving step includes receiving the terrain data as the collection of points.

17. The method of claim 16, wherein the receiving step includes receiving the terrain data from a LiDAR system.

18. The method of claim 10, wherein the receiving step includes receiving the terrain data as a collection of voxels in an occupancy grid.

19. The method of claim 17, wherein the generating step includes converting the terrain data from the collection of voxels into the collection of points.

20. A method for displaying terrain data, the method comprising:

receiving terrain data as a collection of voxels in an occupancy grid;

generating a collection of points in a point cloud of a three-dimensional field of view (FOV) from the collection of voxels;

identifying detached objects in the point cloud;

generating display commands corresponding to the three-dimensional field of view (FOV) with the detached objects; and

displaying the detached objects within the three-dimensional FOV on a display device with a modified appearance relative to attached objects in the point cloud.