Methods and systems for creating maps with radar-optical imaging fusion

• US 8,630,805 B2
• Filed: 10/20/2011
• Issued: 01/14/2014
• Est. Priority Date: 10/20/2011
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Becker, Jan, Schwindt, Oliver
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): Trivedi, Atul
• Application Number:
  US13/277,860
• Publication Number:
  US 20130103301A1
• Time in Patent Office: 817 Days
• Field of Search: 701/409, 701/412, 701/514, 701/523
• US Class Current: 701/514
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/89 for mapping or imaging
• CPC Class Codes: H04N 2013/0074 Stereoscopic image analysis

Abstract

A method of mapping a space using a combination of radar scanning and optical imaging. The method includes steps of providing a measurement vehicle having a radar system and an image acquisition system attached thereto; aligning a field of view of the radar system with a field of view of the image acquisition system; obtaining at least one radar scan of a space using the radar scanning system; obtaining at least one image of the space using the image acquisition system; and combining the at least one radar scan with the at least one image to construct a map of the space.

Claims

1. A method of mapping objects in a space using a combination of radar scanning and optical imaging, comprising:

providing a measurement vehicle having a radar system and an optical image acquisition system attached thereto;

aligning a field of view of the radar system with a field of view of the optical image acquisition system;

obtaining at least one radar scan of the space using the radar system;

obtaining at least one image of the space using the optical image acquisition system;

generating a three-dimensional digital rendering of the space, including objects located in the space, based at least in part on the at least one radar scan and the at least one image; and

storing the three-dimensional digital rendering of the space to a memory.

2. The method of claim 1, further comprising:

identifying data from at least one of the image of the space and the radar scan of the space, the data being associated with a moving object in the space that is moving when the radar scan and image of the space are obtained, and

wherein generating the three-dimensional digital rendering of the space includes omitting the data associated with the moving object so that a digital rendering of the moving object is not included in the three-dimensional digital rendering of the space.

3. The method of claim 1, further comprising identifying an object in the space and identifying a feature of the object.

4. The method of claim 3, wherein the object is a building and further comprising identifying an outline of the building using the at least one radar scan.

5. The method of claim 4, wherein the outline includes a footprint of the building.

6. The method of claim 4, further comprising estimating a height of the building.

7. The method of claim 3, wherein the object is a building, and further comprising:

displaying at least a portion of the three-dimensional digital rendering of the space, the displayed portion of the three-dimensional digital rending including the building; and

superimposing an advertisement on an exterior of the digital rendering of the building, wherein the superimposed advertisement does not appear on the exterior of the building in the at least one image.

8. The method of claim 1, further comprising displaying at least a portion of the three-dimensional digital rendering of the space on a navigation system.

9. The method of claim 1, wherein providing a measurement vehicle having a radar system and an image acquisition system attached thereto further comprises providing a measurement vehicle having a radar system, an image acquisition system, and a GPS unit attached thereto.

10. The method of claim 1, further comprising:

displaying at least a portion of the stored three-dimensional digital rendering of the space, wherein the displayed portion includes a building; and

superimposing a feature on an exterior of the digital rendering of the building, wherein the superimposed feature does not appear on the exterior of the building in the at least one image.

11. The method of claim 10, wherein the superimposed feature includes at least one of text, an image, and an advertisement.

12. The method of claim 1, wherein the act of obtaining at least one image of the space using the optical image acquisition system including capturing at least one image of the space using a camera.

13. A system for mapping objects in a space using a combination of radar scanning and optical imaging, comprising:

a measurement vehicle having a radar system and an optical image acquisition system attached thereto, a field of view of the radar system being aligned with a field of view of the optical image acquisition system;

a controller in communication with the radar system and the optical image acquisition system, the controller configured to

obtain at least one radar scan of the space using the radar system;

obtain at least one image of the space using the optical image acquisition system;

generate a three-dimensional digital rendering of the space based at least in part on the at least one radar scan and the at least one image; and

store the three-dimensional digital rendering of the space to a memory.

14. The system of claim 13, wherein the controller is further configured to:

identify data from at least one of the image of the space and the radar scan of the space, the data being associated with a moving object in the space that is moving when the radar scan and image of the space are obtained, and

wherein the controller is configured to generate the three-dimensional digital rendering of the space by omitting the data associated with the moving object so that a digital rendering of the moving object is not included in the three-dimensional digital rendering of the space.

15. The system of claim 13, wherein the controller is further configured to identify an object in the space and the controller is further configured to identify a feature of the object.

16. The system of claim 15, wherein the object is a building and wherein the controller is further configured to identify an outline of the building using the at least one radar scan.

17. The system of claim 16, wherein the outline includes a footprint of the building.

18. The system of claim 16, wherein the controller is further configured to estimate a height of the building.

19. The system of claim 15, wherein the object is a building, and wherein the controller is further configured to:

display at least a portion of the three-dimensional digital rendering of the space, the displayed portion of the three-dimensional digital rending including the building; and

superimpose an advertisement on an exterior of the digital rendering of the building, wherein the superimposed advertisement does not appear on the exterior of the building in the at least one image.

20. The system of claim 13, further comprising a navigation system configured to display at least a portion of the three-dimensional digital rendering of the space.

21. The system of claim 13, wherein the measurement vehicle further comprises a GPS unit attached thereto.

22. The system of claim 13, wherein the controller is further configured to:

display at least a portion of the stored three-dimensional digital rendering of the space, wherein the displayed portion includes a building; and

superimposing a feature on an exterior of the digital rendering of the building, wherein the superimposed feature does not appear on the exterior of the building in the at least one image.

23. The system of claim 22, wherein the superimposed feature includes at least one of text, an image, and an advertisement.

24. The system of claim 13, wherein the optical image acquisition system includes a camera.