Synthetic vision systems and methods for displaying detached objects

• US 9,347,793 B2
• Filed: 04/02/2012
• Issued: 05/24/2016
• Est. Priority Date: 04/02/2012
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Meeker, John, Cunningham, John, Baughman, David
• Primary Examiner(s): Drennan, Barry
• Assistant Examiner(s): Prendergast, Roberta D
• Application Number:
  US13/437,470
• Publication Number:
  US 20130257852A1
• Time in Patent Office: 1,513 Days
• US Class Current: 1/1
• CPC Class Codes: G01C 21/3638 including 3D objects and buildings three dimensional [3D] modelling, e.g. data description of 3D objects G06T17/00; geographic models G06T17/05
• CPC Class Codes: G01C 23/00 Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
• CPC Class Codes: G01S 13/935 for terrain-avoidance
• CPC Class Codes: G01S 17/933 of aircraft or spacecraft
• CPC Class Codes: G01S 7/20 Stereoscopic displays; Three-dimensional displays; Pseudo-three-dimensional displays
• CPC Class Codes: G06T 15/00 3D [Three Dimensional] image rendering
• CPC Class Codes: G06T 15/08 Volume rendering
• CPC Class Codes: G06T 17/00 Three dimensional [3D] modelling, e.g. data description of 3D objects
• CPC Class Codes: G06T 17/05 Geographic models
• CPC Class Codes: G06T 19/00 Manipulating 3D models or images for computer graphics

Abstract

A display system is provided for a vehicle. The display system includes a data source configured to provide terrain data with detached objects that are detached from ground terrain and attached objects that are attached to ground terrain; a processing unit coupled to the data source configured to receive the terrain data and to distinguish the detached objects from the attached objects to generate display commands for a three-dimensional view that comprises graphical elements representing both the detached objects and the attached objects; and a display device coupled to the processing unit and configured to receive the display commands and operable to render the common three-dimensional view to thereby allow viewing of the detached objects and the attached objects.

Claims

1. A display system for a vehicle, comprising:

a data source configured to provide terrain data with detached objects that are detached from ground terrain and attached objects that are attached to ground terrain, the detached objects including a first detached object within a first column of grid points of a three-dimensional occupancy grid based on the terrain data;

a processing unit coupled to the data source configured to receive the terrain data and to distinguish the detached objects from the attached objects to generate display commands for a three-dimensional view that comprises graphical elements representing both the detached objects and the attached objects, the processing unit configured to identify the first detached object when a discontinuity between a lowest group of continuously occupied points from a bottom-most level of the first column and additional occupied points within the first column exceeds a predetermined threshold; and

a display device coupled to the processing unit and configured to receive the display commands and operable to render the common three-dimensional view to thereby allow viewing of the detached objects and the attached objects,

wherein the processing unit is further configured to generate the display commands with a first tether extending from the first detached object to a corresponding terrain location within the first column.

2. The display system of claim 1 wherein the processing unit is further configured to extract the detached objects from the three-dimensional occupancy grid.

3. The display system of claim 1, wherein the processing unit is further configured to modify an appearance of the detached objects relative to the attached objects.

4. The display system of claim 3, wherein the processing unit is further configured to modify the appearance of the detached objects by modifying at least one of relative size, color, and shading.

5. The display system of claim 1, wherein the data source is a sensor.

6. The display system of claim 1, wherein the display device is a Primary Flight Display (PFD).

7. The display system of claim 1, wherein the display device is a Multi-Function Display (MFD).

8. The display system of claim 1, wherein the data source is a sensor with a resolution, and wherein the predetermined threshold corresponds to the resolution of the sensor.

9. A method for displaying terrain data, the method comprising:

receiving terrain data as a collection of voxels in an occupancy grid from at least one sensor with a resolution;

generating a collection of points in a point cloud of a three-dimensional field of view (FOV) from the collection of voxels, the point cloud including a bottom level of grid points with a column of grid points extending from each of the bottom level of grid points;

identifying detached objects in the point cloud, the identifying including identifying a first detached object of the detached objects within a first column of grid points by

identifying, for the first column, a lowest group of continuous occupied points extending from the bottom level as a first column set, each of the first column set having a highest point,

identifying, for the first column, additional occupied points outside of the first column set, including a first lowest grid point of the additional occupied points for the first column,

determining, for the first column, a distance between the first lowest grid point of the additional occupied points and the highest point of the lowest group of continuous occupied points, and

identifying, for the first column, the additional occupied points as one of the detached objects when the distance exceeds a predetermined threshold, the predetermined threshold corresponding to the resolution of the at least one sensor;

generating display commands corresponding to the three-dimensional field of view (FOV) with the detached objects; and

displaying the first detached object within the three-dimensional FOV on a display device with a first tether extending from the first detached object to a corresponding terrain location within the first column.

10. The method of claim 9, further comprising modifying an appearance of the detached objects relative to attached objects in the point cloud.

11. The method of claim 10, wherein the modifying step includes modifying at least one of relative size, color, and shading.

12. The method of claim 9, wherein the displaying step includes displaying the three-dimensional FOV on a Primary Flight Display (PFD).

13. The method of claim 9, wherein the displaying step includes displaying the three-dimensional FOV on a Multi-Function Display (MFD).

14. The method of claim 9, wherein the receiving step includes receiving the terrain data from a LiDAR system.