Ladar Point Cloud Compression
First Claim
1. A method comprising:
- receiving frame data representative of an environmental scene that serves as a scan area for a scanning ladar transmission system, the frame data comprising a plurality of points that define the scan area;
performing corner detection on the frame data to identify a corner feature within the environmental scene; and
selecting a subset of the points to use as range points for targeting by ladar pulses transmitted by the scanning ladar transmission system, wherein the subset includes a plurality of points corresponding to the identified corner feature within the environmental scene; and
wherein the method steps are performed by a processor.
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Abstract
Various embodiments are disclosed ladar point cloud compression. For example, a processor can be used to analyze data representative of an environmental scene to intelligently select a subset of range points within a frame to target with ladar pulses via a scanning ladar transmission system. In another example embodiment, a processor can perform ladar point cloud compression by (1) processing data representative of an environmental scene, and (2) based on the processing, selecting a plurality of the range points in the point cloud for retention in a compressed point cloud, the compressed point cloud comprising fewer range points than the generated point cloud.
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Citations
78 Claims
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1. A method comprising:
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receiving frame data representative of an environmental scene that serves as a scan area for a scanning ladar transmission system, the frame data comprising a plurality of points that define the scan area; performing corner detection on the frame data to identify a corner feature within the environmental scene; and selecting a subset of the points to use as range points for targeting by ladar pulses transmitted by the scanning ladar transmission system, wherein the subset includes a plurality of points corresponding to the identified corner feature within the environmental scene; and wherein the method steps are performed by a processor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method comprising:
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receiving frame data representative of an environmental scene that serves as a scan area for a scanning ladar transmission system, the frame data comprising a plurality of points that define the scan area; identifying a plurality of frame data segments corresponding to different segments of the environmental scene; analyzing each of a plurality of the identified frame data segments separately to identify high contrast areas within such frame data segments; and selecting a subset of the points to use as range points for targeting by ladar pulses transmitted by the scanning ladar transmission system, wherein the subset includes a relatively higher concentration of range points within an area of the environmental scene corresponding to identified high contrast areas than within another area of the environmental scene; and wherein the method steps are performed by a processor. - View Dependent Claims (16, 17, 18, 19, 20)
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21. An apparatus comprising:
a processor configured to (1) receive frame data representative of an environmental scene that serves as a scan area for a scanning ladar transmission system, the frame data comprising a plurality of points that define the scan area, (2) perform corner detection on the frame data to identify a corner feature within the environmental scene, and (3) select a subset of the points to use as range points for targeting by ladar pulses transmitted by the scanning ladar transmission system, wherein the subset includes a plurality of points corresponding to the identified corner feature within the environmental scene. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
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35. An apparatus comprising:
a processor configured to (1) receive frame data representative of an environmental scene that serves as a scan area for a scanning ladar transmission system, the frame data comprising a plurality of points that define the scan area, (2) identify a plurality of frame data segments corresponding to different segments of the environmental scene, (3) analyze each of a plurality of the identified frame data segments separately to identify high contrast areas within such frame data segments, and (4) select a subset of the points to use as range points for targeting by ladar pulses transmitted by the scanning ladar transmission system, wherein the subset includes a relatively higher concentration of range points within an area of the environmental scene corresponding to identified high contrast areas than within another area of the environmental scene. - View Dependent Claims (36, 37, 38, 39, 40)
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41. A method comprising:
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generating a point cloud via ladar, the point cloud being representative of an environmental scene and comprising a plurality of range points; and compressing the point cloud by (1) processing data representative of the environmental scene, and (2) based on the processing, selecting a plurality of the range points in the point cloud for retention in a compressed point cloud, the compressed point cloud comprising fewer range points than the generated point cloud; and wherein the compressing step is performed by a processor. - View Dependent Claims (42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59)
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60. An apparatus comprising:
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a ladar system, the ladar system configured to generate a point cloud via ladar, the point cloud being representative of an environmental scene and comprising a plurality of range points; and a processor, the processor configured to compress the point cloud by (1) processing data representative of the environmental scene, and (2) based on the processing, selecting a plurality of the range points in the point cloud for retention in a compressed point cloud, the compressed point cloud comprising fewer range points than the generated point cloud. - View Dependent Claims (61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78)
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Specification