Systems and methods for processing mapping and modeling data

• US 9,008,998 B2
• Filed: 02/03/2011
• Issued: 04/14/2015
• Est. Priority Date: 02/05/2010
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Canter, Peter
• Primary Examiner(s): Assouad, Patrick
• Assistant Examiner(s): Zhang, Haidong
• Application Number:
  US12/931,524
• Publication Number:
  US 20110282622A1
• Time in Patent Office: 1,531 Days
• Field of Search: 702/150
• US Class Current: 702/150
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G06T 19/20 Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 5/70 Denoising; Smoothing
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 7/75 involving models
• CPC Class Codes: G06V 20/36 Indoor scenes

Abstract

A method for post-processing georeferenced mapping data includes providing positioning data indicating a position of a data acquisition system in a defined space at specific moments in time, providing ranging data indicating relative position of objects in the defined space with respect to the data acquisition system at the specific moments in time, performing a smoothing process on the positioning data to determine smoothed best estimate of trajectory (SBET) data for trajectory of the data acquisition system, performing a scan matching process on the SBET data and the ranging data to identify objects and/or object features in the defined space, performing a process to revise the SBET data so that the SBET data aligns with the identified objects and/or object features and storing the revised SBET data with the range data.

Claims

1. A method for post-processing georeferenced mapping data comprising:

providing, from a storage, positioning data indicating a position of a data acquisition system in a defined space at specific moments in time;

providing, from the storage, ranging data indicating relative position of objects in the defined space with respect to the data acquisition system at the specific moments in time;

performing, by using a smoothing processor, a smoothing process on the positioning data to determine smoothed best estimate of trajectory (SBET) data for trajectory of the data acquisition system;

performing, by using a scan matching processor, a scan matching process on the SBET data and the ranging data to identify objects and/or object features in the defined space;

performing, by using a revising processor, a process to revise the SBET data so that the SBET data aligns with the identified objects and/or object features; and

storing, the revised SBET data with the ranging data, into the storage.

2. The method of claim 1, further comprising generating a point cloud using the revised SBET data and the ranging data.

3. The method of claim 2, further comprising providing image data of the defined space at the specific moments in time.

4. The method of claim 3, further comprising overlaying the image data over the generated point cloud to create an image map of the defined space.

5. The method of claim 4, further comprising outputting the image map.

6. The method of claim 1, wherein the scan matching process identifies linear features in the defined space.

7. The method of claim 6, further comprising revising the SBET data so that the identified linear features remain linear.

8. The method of claim 1, wherein the objects and/or object features identified utilizing the scan matching process comprise at least one of walls, wall corners, doors, door edges, furniture and furniture edges.

9. The method of claim 1, wherein the ranging data comprises data collected by a light detection and ranging laser ranging system (LIDAR).

10. The method of claim 1, wherein the ranging data comprises data collected from at least one image taken by a camera.

11. The method of claim 1, wherein the positioning data comprises data collected by at least one of an odometry system and/or inertial measurement system.

12. A system for post-processing georeferenced mapping data comprising:

a storage, storing positioning data indicating a position of a data acquisition system in a defined space at specific moments in time;

the storage, further storing ranging data indicating relative position of objects in the defined space with respect to the data acquisition system at the specific moments in time;

a smoothing processor performing, a smoothing process on the positioning data to determine smoothed best estimate of trajectory (SBET) data for trajectory of the data acquisition system;

a scan matching processor, performing a scan matching process on the SBET data and the ranging data to identify objects and/or object features in the defined space;

a revising processor, revising the SBET data so that the SBET data aligns with the identified objects and/or object features; and

the storage, storing the revised SBET data with the ranging data.

13. The system of claim 12, further comprising a point cloud generator for generating a point cloud using the revised SBET data and the ranging data.

14. The system of claim 13, further comprising an image data provider for providing image data of the defined space at the specific moments in time.

15. The system if claim 14, further comprising an image map creator for overlaying the image data over the generated point cloud to create an image map of the defined space.

16. The system of claim 15, further comprising an output for outputting the image map.

17. The system of claim 12, wherein the scan matching processor identifies linear features in the defined space.

18. The system of claim 17, wherein the revising processor further revises the SBET data so that the identified linear features remain linear.

19. The system of claim 12, wherein the objects and/or object features identified utilizing the scan matching processor comprise at least one of walls, wall corners, doors, door edges, furniture and furniture edges.

20. The system of claim 12, wherein the ranging data comprises data collected by a light detection and ranging laser ranging system (LIDAR).

21. The system of claim 12, wherein the ranging data comprises data collected from at least one image taken by a camera.

22. The system of claim 12, wherein the positioning data comprises data collected by at least one of an odometry system and/or inertial measurement system.

23. A non-transitory computer-readable storage device embodying computer executable instructions for post-processing georeferenced mapping data, the computer executable instructions comprising:

instructions to retrieve positioning data indicating a position of a data acquisition system in a defined space at specific moments in time;

instructions to retrieve ranging data indicating relative position of objects in the defined space with respect to the data acquisition system at the specific moments in time;

instructions to perform a smoothing process on the positioning data to determine smoothed best estimate of trajectory(SBET) data for trajectory of the data acquisition system;

instructions to perform a scan matching process on the SBET data and the ranging data to identify objects and/or object features in the defined space;

instructions to perform a process to revise the SBET data so that the SBET data aligns with the identified objects and/or object features; and

instructions to store the revised SBET data with the ranging data.

24. The non-transitory computer-readable storage device of claim 23, further comprising instructions to generate a point cloud using the revised SBET data and the ranging data.

25. The non-transitory computer-readable storage device of claim 24, further comprising instructions to provide image data of the defined space at the specific moments in time.

26. The non-transitory computer-readable storage device of claim 25, further comprising instructions to overlay the image data over the generated point cloud to create an image map of the defined space.

27. The non-transitory computer-readable storage device of claim 26, further comprising instructions to output the image map.

28. The non-transitory computer-readable storage device of claim 23, wherein the code for instructions that perform the scan matching process identify linear features in the defined space.

29. The non-transitory computer-readable storage device of claim 28, further comprising instructions to revise the SBET data so that the identified linear features remain linear.

30. The non-transitory computer-readable storage device of claim 23, wherein the objects and/or object features identified utilizing the scan matching process comprise at least one of walls, wall corners, doors, door edges, furniture and furniture edges.

31. The non-transitory computer-readable storage device of claim 23, wherein the ranging data comprises data collected by a light detection and ranging laser ranging system (LIDAR).

32. The non-transitory computer-readable storage device of claim 23, wherein the ranging data comprises data collected from at least one image taken by a camera.

33. The non-transitory computer-readable storage device of claim 23, wherein the positioning data comprises data collected by at least one of an odometry system and inertial measurement system.