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.
Claims18
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 at least one scanner, wherein at least one subset of the scanning points indicates a position of at least a portion of a target object;
- determining an estimated motion of the target object based, at least in part, on a volume defined by the plurality of scanning points;
- relocating at least one scanning point of the plurality of scanning points based, at least in part, on the estimated motion of the target object in accordance with a motion model associated with the target object;
- and
- generating an adjusted point cloud based, at least in part, on the relocating of the at least one scanning point,
- wherein relocating the at least one scanning point is based, at least in part, on movements associated with the at least one scanning point between a timepoint when the at least one scanning point was produced and a subsequent target timepoint.
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 carried by the scanning platform, wherein at least one subset of the scanning points indicates a position of at least a portion of a target object;
- determining an estimated motion of the target object based, at least in part, on a volume defined by the plurality of scanning points;
- relocating at least one scanning point of the plurality of scanning points based, at least in part, on the estimated motion of the target object in accordance with a motion model associated with the target object;
- and
- generating an adjusted point cloud based, at least in part, on the relocating of the at least one scanning point,
- wherein relocating the at least one scanning point is based, at least in part, on movements associated with the at least one scanning point between a timepoint when the at least one scanning point was produced and a subsequent target timepoint.
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 at least one subset of the scanning points indicates a position of at least a portion of a target object;
- determine an estimated motion of the target object based, at least in part, on a volume defined by the plurality of scanning points;
- relocate at least one scanning point of the plurality of scanning points based, at least in part, on the estimated motion of the target object in accordance with a motion model associated with the target object;
- and
- generate an adjusted point cloud based, at least in part, on the relocating of the at least one scanning point,
- wherein relocating the at least one scanning point is based, at least in part, on movements associated with the at least one scanning point between a timepoint when the at least one scanning point was produced and a subsequent target timepoint.
Dependencies are inferred from the claim text.