Fusion of a 2D electro-optical image and 3D point cloud data for scene interpretation and registration performance assessment
First Claim
1. A method performed by a computing device for combining a 2D image with a 3D image for improved visualization of a common scene, comprising:
- analyzing said 2D image to identify selected content based characteristics of a plurality of first areas in said common scene;
selectively assigning to each area of said plurality of first areas a different color map tag of a plurality of color map tags that corresponds to a content based characteristic of said area, each of said plurality of color map tags identifying a different one of a plurality of color maps;
using said plurality of color map tags to assign a different color map of said plurality of color maps to each of a plurality of second areas of said 3D image which correspond to said plurality of first areas of said 2D image;
respectively applying said plurality of color maps to data defining said plurality of second areas of said 3D image;
forming a virtual 3D image from said 2D image by assigning a Z value to pixels in said 2D image based on a contour of a surface defined by first points of said 3D image;
determining color values for second points in the virtual 3D image based on a desired color map; and
creating a fused image by overlaying said 3D image and said virtual 3D image.
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Abstract
Method and system for combining a 2D image with a 3D point cloud for improved visualization of a common scene as well as interpretation of the success of the registration process. The resulting fused data contains the combined information from the original 3D point cloud and the information from the 2D image. The original 3D point cloud data is color coded in accordance with a color map tagging process. By fusing data from different sensors, the resulting scene has several useful attributes relating to battle space awareness, target identification, change detection within a rendered scene, and determination of registration success.
99 Citations
21 Claims
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1. A method performed by a computing device for combining a 2D image with a 3D image for improved visualization of a common scene, comprising:
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analyzing said 2D image to identify selected content based characteristics of a plurality of first areas in said common scene; selectively assigning to each area of said plurality of first areas a different color map tag of a plurality of color map tags that corresponds to a content based characteristic of said area, each of said plurality of color map tags identifying a different one of a plurality of color maps; using said plurality of color map tags to assign a different color map of said plurality of color maps to each of a plurality of second areas of said 3D image which correspond to said plurality of first areas of said 2D image; respectively applying said plurality of color maps to data defining said plurality of second areas of said 3D image; forming a virtual 3D image from said 2D image by assigning a Z value to pixels in said 2D image based on a contour of a surface defined by first points of said 3D image; determining color values for second points in the virtual 3D image based on a desired color map; and creating a fused image by overlaying said 3D image and said virtual 3D image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for combining a 2D image with a 3D image for improved visualization of a common scene, comprising:
a computer programmed with a set of instructions for analyzing said 2D image to identify selected content based characteristics of a plurality of first areas in said common scene; selectively assigning to each area of said plurality of first areas a different color map tag of a plurality of color map tags that corresponds to a content based characteristic of said area, each of said plurality of color map tags identifying a different one of a plurality of color maps; using said plurality of color map tags to assign a different color map of said plurality of color maps to each of a plurality of second areas of said 3D image which correspond to said plurality of first areas of said 2D image; respectively applying said plurality of color maps to data defining said plurality of second areas of said 3D image; forming a virtual 3D image from said 2D image by assigning a Z value to pixels in said 2D image, each said Z value determined based on a contour of a surface defined by first points of said 3D image; determining color values for second point in the virtual 3D image based on a desired color map on a color values of a corresponding pixel in said 2D image; and creating a fused image by overlaying said 3D image and said virtual 3D image. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method performed by a computing device for combining a 2D image with a 3D image for improved visualization of a common scene, comprising:
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analyzing said 2D image to identify selected content based characteristics of a plurality of first areas in said common scene; selectively assigning to each area of said plurality of first areas a different color map tag of a plurality of color map tags that correspond to a content based characteristic of said area, each of said plurality of color map tags identifying a different one of a plurality of color maps; registering a 2D image with a 3D image; using said plurality of color map tags to assign a different color map of said plurality of color maps to each of a plurality of second areas of said 3D image which correspond to said plurality of first areas of said 2D image; respectively applying said plurality of color maps to data defining said plurality of second areas of said 3D image; forming a virtual 3D image from said 2D image by assigning a Z value to pixels in said 2D image based on a contour of a surface defined by first points of said 3D image; and creating a fused image by overlaying said 3D image and said virtual 3D image in accordance with said registration.
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Specification