Path side image in map overlay

• US 9,558,576 B2
• Filed: 04/02/2015
• Issued: 01/31/2017
• Est. Priority Date: 12/30/2011
• Status: Active Grant

• Current Assignee: HERE Global B.V. (HERE Holding Corporation)
• Original Assignee: HERE Global B.V. (HERE Holding Corporation)
• Inventors: Lynch, James
• Primary Examiner(s): McCulley, Ryan D
• Application Number:
  US14/677,345
• Publication Number:
  US 20150213637A1
• Time in Patent Office: 670 Days
• US Class Current: 1/1
• 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 a depthmap of optical distance data corresponding to a pathway;

receiving image data from at least one panoramic image including physical features corresponding to a path side view;

receiving map data including physical features corresponding to a top down view with respect to the pathway;

dividing the optical distance data corresponding to the pathway into a plurality of planes based on one or more distance thresholds for each plane of the plurality of planes, wherein the one or more distance thresholds are associated with known reference points corresponding to the path side view;

correlating the optical distance data of the plurality of planes and the image data, wherein a geographic distance of each image data point determines which plane of the plurality of planes that the image data is associated with;

defining a pixel value for each point of a range of points of the optical distance data of each of the plurality of planes according to a section of the image data, wherein a size of each image data section is based on a length of an orthogonal line between each plane and each respective point of the optical distance data;

rotating the pixel values correlated with the optical distance data of at least two of the plurality of planes using the depthmap; and

providing for display of map data including physical features corresponding to the top down view with respect to the pathway aligned with respective physical features corresponding to the path side view of the rotated pixel values in the same plane, wherein image data of each plane is displayed at a rate based on one or more distance thresholds of each plane.

2. The method of claim 1, wherein the pixels are rotated about a path segment for the pathway.

3. The method of claim 2, further comprising:

accessing map data for at least one of the plurality of planes from a map database, wherein the map data includes the path segment.

4. The method of claim 1, further comprising:

averaging the pixel values for the section of the image data; and

defining a new value for the optical data based on the averaged pixel values.

5. The method of claim 1, further comprising:

weighting the pixel values according to distance; and

defining a new value for the optical data based on the weighted pixel values.

6. The method claim 1, wherein the optical distance data is collected by a light detection and ranging (LIDAR) system.

7. The method of claim 1, further comprising:

filtering the optical distance data according to reflectivity of the optical distance data.

8. The method of claim 1, wherein

dividing the optical distance data into a plurality of planes is further based on distance to a path segment.

9. The method of claim 8, further comprising:

selecting at least one of the plurality of planes according to a user input; and

displaying the at least one of the plurality of planes and a portion of map data.

10. The method of claim 1, further comprising:

assigning a transparency value to the defined pixel values.

11. An apparatus comprising:

at least one processor; and

at least one memory including computer program code for one or more programs;

the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to at least perform;

receive a depthmap of optical distance data corresponding to a road segment;

receive image data from at least one panoramic image including physical features corresponding to a road side view;

receive map data including physical features corresponding to a top down view with respect to the road segment;

divide the optical distance data corresponding to the road segment into a plurality of planes based on one or more distance thresholds for each plane of the plurality of planes wherein the one or more distance thresholds are associated with known reference points corresponding to the road side view;

correlate the optical distance data of the plurality of planes and the image data, wherein a geographic distance of each image data point determines which plane of the plurality of planes that the image data is associated with;

colorize the optical distance data based on sections of the image data, wherein a size of each image data section is based on a length of an orthogonal line between each plane and each respective point of the optical distance data;

rotate the colorized optical distance data of at least two of the plurality of planes including the road segment; and

provide for display of a map including physical features corresponding to the top down view with respect to the road segment aligned with respective physical features corresponding to the road side view of the rotated pixel values in the same plane, wherein image data of each plane is displayed at a rate based on one or more distance thresholds of each plane and independent of the rate of the other planes.

12. The apparatus of claim 11, wherein the colorized optical distance data are rotated about a path segment for the road segment.

13. The apparatus of claim 11, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to:

average pixel values from the image data; and

define colorized optical distance data based on the averaged pixel values.

14. The apparatus of claim 11, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to:

weight pixel values from the image data according to distance; and

define colorized optical distance data based on the weighted pixel values.

15. The apparatus of claim 11, wherein the optical distance data is collected by a light detection and ranging (LIDAR) system.

16. The apparatus of claim 11, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to:

divide the optical distance data into a plurality of layers further based on distance to a path segment.

17. The apparatus of claim 16, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to:

select at least one of the plurality of layers according to a user input; and

display the at least one of the plurality of layers and a portion of map data.

18. The apparatus of claim 11, wherein the colorized optical distance data is rotated using a rotation matrix.

19. The apparatus of claim 11, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to:

assign a transparency value to the defined pixel values.

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

identify a depthmap of optical distance data corresponding to a pathway;

identify image data from at least one panoramic image corresponding to a path side view from the pathway;

identify map data including physical features corresponding to a top down view with respect to the pathway;

divide the optical distance data corresponding to the pathway into a plurality of planes based on one or more distance thresholds for each plane of the plurality of planes, wherein the one or more distance thresholds are associated with known reference points corresponding to the path side view;

correlate the optical distance data of the plurality of planes and the image data, wherein a geographic distance of each image data point determines which plane of the plurality of planes that the image data is associated with;

determine a pixel value for each point of a range of points of the optical distance data of each of the plurality of planes according to a section of the image data, wherein a size of each image data section is based on a length of an orthogonal line between each plane and each respective point of the optical distance data;

assigning a transparency value to the determined pixel values;

align the pixel values correlated with the optical distance data to the plurality of planes using the depthmap; and

provide for display of map data including physical features corresponding to the top down view with respect to the pathway with respective physical features corresponding to the path side view of the aligned pixel values in the same plane, wherein image data of each plane is displayed at a rate based on one or more distance thresholds of each plane.