METHOD AND SYSTEM FOR GENERATING MULTIDIMENSIONAL MAPS OF A SCENE USING A PLURALITY OF SENSORS OF VARIOUS TYPES
First Claim
1. A method for generating a high-density three-dimensional (3D) map, comprising:
- acquiring at least one high-density image of a scene using at least one passive sensor;
acquiring at least one new set of distance measurements of the scene using at least one active sensor;
acquiring a previously generated 3D map of the scene comprising a previous set of upsampled distance measurements;
merging the at least one new set of distance measurements with the previous set of upsampled distance measurements, wherein merging the at least one new set of distance measurements further includes accounting for a motion transformation between a previous high-density image frame and the acquired high-density image and the acquired new set of distance measurements; and
overlaying the merged new set of distance measurements on the acquired high-density image via an upsampling interpolation, creating an output high-density 3D map.
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Accused Products
Abstract
A system and method for generating a high-density three-dimensional (3D) map are disclosed. The system comprises acquiring at least one high density image of a scene using at least one passive sensor; acquiring at least one new set of distance measurements of the scene using at least one active sensor; acquiring a previously generated 3D map of the scene comprising a previous set of distance measurements; merging the at least one new set of distance measurements with the previous set of upsampled distance measurements, wherein merging the at least one new set of distance measurements further includes accounting for a motion transformation between a previous high-density image frame and the acquired high density image and the acquired distance measurements; and overlaying the new set of distance measurements on the high-density image via an upsampling interpolation, creating an output 3D map.
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Citations
20 Claims
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1. A method for generating a high-density three-dimensional (3D) map, comprising:
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acquiring at least one high-density image of a scene using at least one passive sensor; acquiring at least one new set of distance measurements of the scene using at least one active sensor; acquiring a previously generated 3D map of the scene comprising a previous set of upsampled distance measurements; merging the at least one new set of distance measurements with the previous set of upsampled distance measurements, wherein merging the at least one new set of distance measurements further includes accounting for a motion transformation between a previous high-density image frame and the acquired high-density image and the acquired new set of distance measurements; and overlaying the merged new set of distance measurements on the acquired high-density image via an upsampling interpolation, creating an output high-density 3D map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A non-transitory computer readable medium having stored thereon instructions for causing a processing circuitry to perform a process for generating a high-density three-dimensional (3D) map, the process comprising:
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acquiring at least one high density image of a scene using at least one passive sensor; acquiring at least one new set of distance measurements of the scene using at least one active sensor; acquiring a previously generated 3D map of the scene comprising a previous set of distance measurements; merging the at least one new set of distance measurements with the previous set of upsampled distance measurements, wherein merging the at least one new set of distance measurements further includes accounting for a motion transformation between a previous high-density image frame and the acquired high density image and the acquired distance measurements; and overlaying the merged new set of distance measurements on the high-density image via an upsampling interpolation, creating an output 3D map.
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11. A system for generating a high-density three-dimensional (3D) map, comprising:
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a passive sensor configured to acquire at least one high density image of a scene using a passive sensor; at least one active sensor configured to acquire at least one set of distance measurements of the scene using at least one active sensor; a processing circuitry; and a memory, the memory containing instructions that, when executed by the processing circuitry, configure the system to; acquire at least one high density image of a scene using at least one passive sensor; acquire at least one new set of distance measurements of the scene using at least one active sensor; acquire a previously generated 3D map of the scene comprising a previous set of distance measurements; merge the at least one new set of distance measurements with the previous set of upsampled distance measurements, wherein merging the at least one new set of distance measurements further includes accounting for a motion transformation between a previous high-density image frame and the acquired high density image and the acquired distance measurements; and overlay the merged new set of distance measurements on the high-density image via an upsampling interpolation, creating an output high-density 3D map. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification