METHOD OF GENERATING A SMOOTH IMAGE FROM POINT CLOUD DATA
First Claim
1. A method for processing an array of pixels in a point cloud, comprising:
- (a) calculating local error limits for each distance value for each pixel in the processed point cloud data set;
(b) determining the error bar;
(c) beginning a distance value adjusting loop by for each pixel in the processed point cloud data set by calculating the difference between the distance value in the pixel of the point cloud data set being processed and each of the neighboring pixels or the most suitable neighboring pixel distance value;
(d) determining whether the difference is within the range defined by the error bar;
(e) if the difference is not within the error bar, changing the distance value for the pixel being processed by a small fraction while keeping the new distance value within the range defined by the original distance value for the pixel being processed plus or minus the error bar;
(f) if the difference is within the error bar the distance value in the pixel being processed is replaced by a weighted average value;
(g) count the number of neighboring pixels with their distance values within the error bar for the pixel being processed and if the count is greater than a predetermined threshold, average the counted distance values and substitute the average for the pixel distance value, but if the count is below the threshold leave the pixel distance value unchanged; and
(h) determining whether loop exit criteria have been met and if loop exit criteria have not been met beginning the loop again, and if loop exit criteria have been met, terminating the loop.
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Abstract
A method is explained for processing an array of pixels in a point cloud. Local error bars are calculated for each pixel distance value. A difference is calculated between distance values of the pixel being processed and neighboring pixels with distance values within the error bars. If the difference is outside the error bars, the distance value of the pixel being processed is changed by a small fraction while remaining inside the error bars; if the difference is within the error bars, the pixel value is replaced by a weighted average. The neighboring pixels with distance values within the error bars of the pixel are counted and if a predetermined threshold is met, the counted values are averaged and replace the pixel value, but if not met, the pixel value is unchanged. If loop exit criteria have been met, the loop is terminated and if not, looping begins again.
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Citations
11 Claims
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1. A method for processing an array of pixels in a point cloud, comprising:
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(a) calculating local error limits for each distance value for each pixel in the processed point cloud data set; (b) determining the error bar; (c) beginning a distance value adjusting loop by for each pixel in the processed point cloud data set by calculating the difference between the distance value in the pixel of the point cloud data set being processed and each of the neighboring pixels or the most suitable neighboring pixel distance value; (d) determining whether the difference is within the range defined by the error bar; (e) if the difference is not within the error bar, changing the distance value for the pixel being processed by a small fraction while keeping the new distance value within the range defined by the original distance value for the pixel being processed plus or minus the error bar; (f) if the difference is within the error bar the distance value in the pixel being processed is replaced by a weighted average value; (g) count the number of neighboring pixels with their distance values within the error bar for the pixel being processed and if the count is greater than a predetermined threshold, average the counted distance values and substitute the average for the pixel distance value, but if the count is below the threshold leave the pixel distance value unchanged; and (h) determining whether loop exit criteria have been met and if loop exit criteria have not been met beginning the loop again, and if loop exit criteria have been met, terminating the loop. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method as in claim one, wherein the loop exit criteria is determined by a fixed number of loops.
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11. A method as in claim one, wherein the loop exit criteria is deviation outside of the range defined between upper and lower distance value limits.
Specification