# US 10,482,628 B2 · Photogrammetric point cloud compression for tactical networks

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- Number: US 10,482,628 B2
- Document ID: US10482628B2
- Status: Granted
- Kind: B2
- Application number: 15/832,695
- Filed: 2017-12-05
- Published: 2019-04-04
- Granted: 2019-11-19
- Earliest claimed: 2017-09-30
- Assignees: The United States of America as represented by the Secretary of the Army
- Applicants: United States of America as Represented by The Secretary of The Army
- Inventors: Andrew C Madison; Richard D Massaro; Clint B Smith
- Web page: https://patentgrep.com/patent/US10482628B2

## CPC

- G06T 9/00: Image coding (bandwidth or redundancy reduction for static pictures H04N1/41; coding or decoding of static colour picture signals H04N1/64; methods or arrangements for coding, decoding, compressing or decompressing digital video signals H04N19/00)
- G01S 17/89: for mapping or imaging
- G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light
- H04N 19/172: the region being a picture, frame or field
- H04N 19/42: characterised by implementation details or hardware specially adapted for video compression or decompression, e.g. dedicated software implementation (H04N19/635 takes precedence)
- H04N 19/90: using coding techniques not provided for in groups H04N19/10-H04N19/85, e.g. fractals
- G06T 2207/10028: Range image; Depth image; 3D point clouds
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION

## Abstract

The invention is a method and system which uses photogrammetric data and functions to perform image-based deconstruction of 3D point cloud data sets. These standard image formats from associated metadata can be easily serialized, transmitted, and subsequently reconstructed using established stereo photogrammetric methods.

## Claims

### Claim 1

A computer configured with instructions to perform processing and access memory to photogrammetrically compress point cloud data, wherein said instructions are comprised of the steps of:
receiving a point cloud data set containing point cloud data points captured by a to sensor, wherein said point cloud data points represent position values of said sensor, location parameters, and geographical coordinates of images corresponding to said point cloud data set;
receiving values representing position coordinates of a focal point;
performing a function to create a first subset of point cloud data representing orbital radius r, wherein said orbital radius r is the horizontal distance from said focal point to said sensor;
performing a function to obtain a second subset of point cloud data point values representing the orbital path corresponding to said radius r and said position values of said sensor;
receiving a point decimation factor;
receive an angular step size Δθ;
eliminating a number of data points corresponding to said point decimation factor and creating a number of images corresponding to angular step size Δθ to create a number of deconstructed image sets; performing a quality verification by calculating an SSIM value for two or more deconstructed image sets each having a unique value for said angular step size Δθ, and comparing said SSIM values to select a value for said angular step size Δθ;
and converting said deconstructed image sets into serial form for transmission.

### Claim 2 (depends on 1)

The method of claim 1 wherein each of said deconstructed image sets is associated with an area having corresponding position coordinates, xs, within said orbital path of said sensor, in angular increments of said angular step size Δθ and each of said deconstructed image sets is further associated with a focal point, xc.

### Claim 3 (depends on 1)

The method of claim 1, which further includes the step of creating a three-dimensional model from said point cloud data set that is a user interface.

### Claim 4 (depends on 3)

The method of claim 3, which further includes the step of invoking functions to calculate photogrammetric relevant parameters using said three-dimensional model, wherein said photogrammetric relevant parameters include but are not limited to orbital to radius r, focal point position coordinates, and orbital path position coordinates.

### Claim 5 (depends on 1)

The method of claim 1 wherein the maximum value of said angular step size
Δ
⁢
⁢
θ
⁢
⁢
is
⁢
⁢
Δ
θ
=
π
15
.

### Claim 6 (depends on 1)

The method of claim 1 wherein said angular step size Δθ is a user input value.

### Claim 7 (depends on 1)

The method of claim 1 which further includes the step of verifying the accuracy of reconstruction by calculating a Structurally Similar Index Metric (SSIM) value.

### Claim 8

A computer configured with instructions to perform processing and access memory to photogrammetrically compress point cloud data, wherein said instructions are comprised of the steps of:
receiving a point cloud data set containing point cloud data points captured by a sensor, wherein said point cloud data points represent position values of said sensor, location parameters, and geographical coordinates of images corresponding to said point cloud data set;
receiving values representing position coordinates of a focal point;
performing a function to create a first subset of point cloud data representing orbital radius r, wherein said orbital radius r is the horizontal distance from said focal point to said sensor;
performing a function to obtain a second subset of point cloud data point values representing the orbital path corresponding to said radius r and said position values of said sensor;
receiving a point decimation factor;
receive an angular step size Δθ;
eliminating a number of data points corresponding to said point decimation factor and creating a number of images corresponding to angular step size Δθ to create a number of deconstructed image sets; performing a quality verification by calculating an SSIM value for two or more deconstructed image sets each having a unique value for said point decimation factor, and comparing said SSIM values to select a value for said point decimation factor;
and converting said deconstructed image sets into serial form for transmission.

### Claim 9 (depends on 8)

The method of claim 8, which further includes the step of creating a three-dimensional model from said point cloud data set that is a user interface.

### Claim 10 (depends on 9)

The method of claim 9, which further includes the step of invoking functions to calculate photogrammetric relevant parameters using said three-dimensional model, wherein said photogrammetric relevant parameters include but are not limited to orbital radius r, focal point position coordinates, and orbital path position coordinates.

### Claim 11 (depends on 8)

The method of claim 8 wherein the maximum value of said angular step size
Δ
⁢
⁢
θ
⁢
⁢
is
⁢
⁢
Δ
θ
=
π
15
.

### Claim 12 (depends on 8)

The method of claim 8 wherein said angular step size Δθ is a user input value.

### Claim 13 (depends on 8)

The method of claim 8 which further includes the step of verifying the accuracy of reconstruction by calculating a Structurally Similar Index Metric (SSIM) value.

### Claim 14 (depends on 8)

The method of claim 8 wherein each of said deconstructed image sets is associated with an area having corresponding position coordinates, xs, within said orbital path of said sensor, in angular increments of said angular step size Δθ and each of said to deconstructed image sets is further associated with a focal point, xc.