Path side image on map overlay

• US 9,024,970 B2
• Filed: 12/30/2011
• Issued: 05/05/2015
• Est. Priority Date: 12/30/2011
• Status: Active Grant

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: HERE Global B.V. (Nokia Corporation)
• Inventors: Lynch, James D.
• Primary Examiner(s): Tung, Kee M
• Assistant Examiner(s): McCulley, Ryan D
• Application Number:
  US13/341,152
• Publication Number:
  US 20130169685A1
• Time in Patent Office: 1,222 Days
• Field of Search: 345/629
• US Class Current: 345/629
• CPC Class Codes: G01C 21/3635 Guidance using 3D or perspective road maps
• CPC Class Codes: G01C 21/3647 Guidance involving output of stored or live camera images or video streams
• CPC Class Codes: G06T 11/001 Texturing; Colouring; Generation of texture or colour inpainting G06T5/77
• CPC Class Codes: G06T 11/60 Editing figures and text; Combining figures or text
• CPC Class Codes: G06T 17/05 Geographic models
• CPC Class Codes: G06T 19/00 Manipulating 3D models or images for computer graphics
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 3/60 Rotation of whole images or parts thereof
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light

Abstract

One or more systems, devices, and/or methods for generating a map including path side data include storing path side data referenced to three-dimensional geographic coordinates. The path side data may be optical data or optical data modified based on one or more panoramic images. The path side data is combined with map data received from a map database. The map data includes nodes and segments. A processor rotates the path side data based on one of the segments. The rotation may be about the segment or about a featured identified in the optical data. The path side data overlaid on the map data is outputted to a display, a file, or another device.

Claims

1. A method comprising:

receiving optical distance data corresponding to opposite sides of an object along a road, wherein the optical distance data is generated by an optical distancing system and collected from the road;

projecting the optical distance data onto an intermediate curved surface;

translating the projected optical distance data onto a two-dimensional plane;

receiving image data from at least one panoramic image;

generating path side data based on a pixel value for a point of the translated optical distance data on the two-dimensional plane according to the image data;

storing the path side data referenced to three-dimensional geographic coordinates;

receiving map data from a map database, wherein the map data includes a plurality of nodes and a plurality of segments;

selecting, using a processor, a segment from the plurality of segments in the map data;

rotating, using the processor, the path side data based on the segment; and

outputting the path side data overlaid on a portion of the map data.

2. The method of claim 1, wherein generating the path side data further comprises defining pixel values for a range of points of the optical distance data according to a section of the image data, and

the method further comprises:

calculating a size of the section of the image data according to a length of an orthogonal line extending from the intermediate curved surface to the two dimensional plane.

3. The method of claim 1, wherein the optical distancing system is a light detection and ranging (LIDAR) system.

4. The method of claim 1, further comprising:

filtering the optical distance data according to reflectivity of the optical distance data, wherein the path side data is generated based on the filtered optical distance data.

5. The method of claim 1, wherein the path side data is generated by defining a pixel value for points of the optical distance data projected according to a predetermined pixel value.

6. The method of claim 1, wherein rotating the path side data based on the segment comprises rotating the path side data about the segment such that the map data and the path side data are coplanar.

7. The method of claim 1, wherein storing the path side data comprises storing the path side data in a plurality of layers, the method further comprising:

selecting at least one of the plurality of layers of the path side data according to a user input; and

displaying the at least one of the plurality of layers of the path side data and a portion of the map data.

8. The method of claim 1, wherein rotating the path side data comprises multiplying the path side data by a rotation matrix.

9. An apparatus comprising:

a memory configured to store path side data referenced to three-dimensional geographic coordinates;

a communication interface configured to receive map data from a map database, wherein the map data includes a plurality of nodes and a plurality of segments and receive optical distance data collected along a road from an optical distancing system; and

a processor configured to;

project the optical distance data onto an intermediate curved surface based on an orthogonal line,

translate the projected optical distance data onto a two-dimensional plane,

identify image data from at least one panoramic image,

generate path side data based on a pixel value for a point in the translated optical distance data corresponding to pixels values from the image data, and

rotate the path side data based on a segment selected from the map data, and

generate an image including the path side data and at least a portion of the map data.

10. The apparatus of claim 9, wherein the processor is configured to define pixel values for a range of points of the optical data according to a section of the image data.

11. The apparatus of claim 10, wherein the processor is configured to calculate a size of the section of the image data according to a length of the orthogonal line.

12. The apparatus of claim 11, wherein the processor is configured to filter optical data according to reflectivity and configured to generate the image based on the filtered optical data.

13. The apparatus of claim 9, wherein the processor is configured to filter the optical data for object outlines to define the path side data.

14. The apparatus of claim 9, wherein the processor is configured to apply a predetermined pixel value to the optical data to define the path side data as a silhouette.

15. The apparatus of claim 9, further comprising:

an input device configured to receive a selection to remove a layer of the path side data defined by depth values of the optical data.

16. A non-transitory computer readable medium having stored thereon a computer program, the computer program comprising instructions to cause a processor to:

store path side data referenced to three-dimensional geographic coordinates;

receive map data from a map database, wherein the map data includes a plurality of nodes and a plurality of segments;

select a segment from the plurality of segments in the map data;

rotate the path side data based on the segment;

receive optical data including distance information collected from a road by a light detection and ranging system;

project the optical data onto at least one intermediate curved surface along an orthogonal line defined according to the segment;

receive image data from at least one panoramic image collected by a land-based moving platform; and

output a portion of the map data overlaid with the path side data by defining a pixel value for a point of the optical data from the at least one intermediate curved surface on at least one plane according to the image data.