Correction of motion-based inaccuracy in point clouds
AssigneeSz Dji Technology Co., Ltd.
InventorsChen Li, Lu Ma
Life of this patent
Estimating the term…
Abstract
Correcting motion-based inaccuracy in point cloud data generated by one or more sensors carried by a scanning platform, and associated systems and methods are disclosed herein. A representative method includes associating a motion model with a target object of the point cloud, estimating adjusting factors based on the motion model, and adjusting scanning points in the point cloud using the adjusting factors.
Claims20
A computer-implemented method for adjusting point clouds generated using at least one scanner carried by a scanning platform, the method comprising:
- obtaining base point cloud information comprising a plurality of scanning points that are produced by the scanner, wherein each of at least a subset of the scanning points indicates a position of at least a portion of a target object and wherein at least two scanning points of the plurality of scanning points are produced at different times;
- assessing the base point cloud information to determine estimated motion model factors;
- relocating one or more scanning points of the plurality of scanning points based, at least in part, on an estimated motion of the target object in accordance with a motion model associated with the target object and in accordance with the determined estimated motion model factors;
- generating an adjusted point cloud based, at least in part, on the relocating of the one or more scanning points;
- determining an error distance of the adjusted point cloud;
- comparing the error distance to a threshold;
- and
- determining a maximum time period for generating the adjusted point cloud based on the comparison.
A non-transitory computer-readable medium storing computer-executable instructions that, when executed, cause one or more processors associated with a scanning platform to perform actions, the actions comprising:
- obtaining base point cloud information comprising a plurality of scanning points that are produced by at least one scanner, wherein each of at least a subset of the scanning points indicates a position of at least a portion of a target object and wherein at least two scanning points of the plurality of scanning points are produced at different times;
- assessing the base point cloud information to determine estimated motion model factors;
- relocating one or more scanning points of the plurality of scanning points based, at least in part, on an estimated motion of the target object in accordance with a motion model associated with the target object and in accordance with the determined estimated motion model factors;
- generating an adjusted point cloud based, at least in part, on the relocating of the one or more scanning points;
- determining an error distance of the adjusted point cloud;
- comparing the error distance to a threshold;
- and
- determining a maximum time period for generating the adjusted point cloud based on the comparison.
A vehicle including a controller programmed to at least partially control one or more motions of the vehicle, wherein the programmed controller includes one or more processors configured to:
- obtain base point cloud information comprising a plurality of scanning points that are produced by at least one scanner, wherein each of at least a subset of the scanning points indicates a position of at least a portion of a target object and wherein at least two scanning points of the plurality of scanning points are produced at different times;
- assess the base point cloud information to determine estimated motion model factors;
- relocate one or more scanning points of the plurality of scanning points based, at least in part, on an estimated motion of the target object in accordance with a motion model associated with the target object and in accordance with the determined estimated motion model factors;
- generate an adjusted point cloud based, at least in part, on the relocating of the one or more scanning points;
- determine an error distance of the adjusted point cloud;
- compare the error distance to a threshold;
- and
- determine a maximum time period for generating the adjusted point cloud based on the comparison.
Dependencies are inferred from the claim text.