LADAR DATA UPSAMPLING
First Claim
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1. A system for upsampling LADAR data, comprising:
- a plurality of electronic data storage devices maintaining a merged LADAR-edge point cloud comprising;
a plurality of LADAR data points, each of the LADAR data points representing a height as a function of position within an area of interest; and
a plurality of edge data points representing height as a function of position for boundaries of objects within the area of interest; and
one or more processors in communication with the plurality of electronic data storage devices, the one or more processors adapted to;
select a first data point from the merged LADAR-edge point cloud, the first data point including a first height at a first position;
select a second data point from the merged LADAR-edge point cloud, the second data point including a second height at a second position, wherein the second data point is selected such that;
the second position differs from the first position by less than or equal to a first threshold value; and
the second height differs from the first height by less than or equal to a second threshold value; and
generate a plurality of upscaled data points, wherein each of the plurality of upscaled data points represents a height interpolated between the first height and the second height and a position interpolated between the first position and the second position.
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Abstract
Systems and processes for increasing the effective sampling density of a LADAR data set are disclosed. LADAR data points are merged with data regarding edges of objects within the physical space represented by the LADAR data points to form a merged LADAR-edge point cloud. Each data point within the merged LADAR-edge point cloud is examined to identify co-planar neighboring data points within a defined search area. Additional data points are added to the LADAR-edge point cloud by interpolating between the identified, co-planar neighboring data points.
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Citations
21 Claims
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1. A system for upsampling LADAR data, comprising:
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a plurality of electronic data storage devices maintaining a merged LADAR-edge point cloud comprising; a plurality of LADAR data points, each of the LADAR data points representing a height as a function of position within an area of interest; and a plurality of edge data points representing height as a function of position for boundaries of objects within the area of interest; and one or more processors in communication with the plurality of electronic data storage devices, the one or more processors adapted to; select a first data point from the merged LADAR-edge point cloud, the first data point including a first height at a first position; select a second data point from the merged LADAR-edge point cloud, the second data point including a second height at a second position, wherein the second data point is selected such that; the second position differs from the first position by less than or equal to a first threshold value; and the second height differs from the first height by less than or equal to a second threshold value; and generate a plurality of upscaled data points, wherein each of the plurality of upscaled data points represents a height interpolated between the first height and the second height and a position interpolated between the first position and the second position. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of upsampling LADAR data, comprising:
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obtaining, by one or more processors, a merged LADAR-edge point cloud comprising; a plurality of LADAR data points, each of the LADAR data points representing a height as a function of position within an area of interest; and a plurality of edge data points representing height as a function of position for boundaries of objects within the area of interest; selecting, by the one or more processors, a first data point from the merged LADAR-edge point cloud, the first data point including a first height at a first position; selecting, by the one or more processors, a second data point from the merged LADAR-edge point cloud, the second data point including a second height at a second position, wherein the second data point is selected such that; the second position differs from the first position by less than or equal to a first threshold value; and the second height differs from the first height by less than or equal to a second threshold value; and generating, by the one or more processors, a plurality of upscaled data points, wherein each of the plurality of upscaled data points represents a height interpolated between the first height and the second height and a position interpolated between the first position and the second position. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A non-transitory, computer-readable medium having computer-readable program codes embedded thereon for up sampling LADAR data, the computer-readable program codes including instructions that, when executed by one or more processors, cause the one or more processors to:
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obtain a merged LADAR-edge point cloud comprising; a plurality of LADAR data points, each of the LADAR data points representing a height as a function of position within an area of interest; and a plurality of edge data points representing height as a function of position for boundaries of objects within the area of interest; select a first data point from the merged LADAR-edge point cloud, the first data point representing a first height at a first position; select a second data point from the merged LADAR-edge point cloud, the second data point representing a second height at a second position; wherein the second data point is selected such that; the second position differs from the first position by less than or equal to a first threshold value; the second height differs from the first height by less than or equal to a second threshold value; and generate a second plurality of LADAR data points, wherein each of the second plurality of LADAR data points represents a height interpolated between the first height and the second height and a position interpolated between the first position and second position. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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Specification