Method, apparatus and computer program product for mapping and modeling a three dimensional structure

A computer program product comprising at least one non-transitory computer-readable storage medium having computer-executable program code instructions stored therein, the computer-executable program code instructions comprising program code instructions to:

• receive sensor data indicative of a trajectory;
• receive sensor data defining structural surfaces within a multi-level structure wherein the sensor data defining structural surfaces within a structure comprises Light Detection and Ranging (LIDAR) data;
• generate a three-dimensional point cloud from the sensor data defining structural surfaces within the multi-level structure;
• segment the three-dimensional point cloud into two or more vertically offset segments based, at least in part, on the sensor data indicative of trajectory, wherein the program code instructions to segment the three-dimensional point cloud comprises program code instructions to:
• determine a trajectory associated with the LIDAR data;
• determine turning points within the LIDAR data based on the determined trajectory;
• segment the three-dimensional point cloud from the LIDAR data into vertically offset segments based on the turning points to obtain LIDAR data associated with each respective level within the structure, wherein each respective level corresponds to a respective vertically offset segment;
• and
• generate a three-dimensional surface model of an interior of the structure based on the segmented three-dimensional point cloud.

A method comprising:

• receiving sensor data indicative of a trajectory;
• receiving sensor data defining structural surfaces within a multi-level structure wherein the sensor data defining structural surfaces within a structure comprises Light Detection and Ranging (LIDAR) data;
• generating a three-dimensional point cloud from the sensor data defining structural surfaces within the multi-level structure;
• segmenting the three-dimensional point cloud into two or more vertically offset segments based, at least in part, on the sensor data indicative of trajectory by:
• determining a trajectory associated with the LIDAR data;
• determining turning points within the LIDAR data based on the determined trajectory;
• segmenting the three-dimensional point cloud from the LIDAR data into vertically offset segments based on the turning points to obtain LIDAR data associated with each respective level within the structure, wherein each respective level corresponds to a respective vertically offset segment;
• generating a three-dimensional surface model of an interior of the structure based on the segmented three-dimensional point cloud;
• and
• providing the three-dimensional surface model of an interior of the multi-level structure to an advanced driver assistance system.