Validating an SfM map using lidar point clouds

A system, comprising:

• a memory;
• and
• at least once processor coupled to the memory and configured to:
• receive a motion-generated image corresponding to a digital image;
• generate a first depth map, wherein the first depth map comprises first depth information for one or more triangulated points located within the motion-generated image;
• receive a light detection and ranging (lidar) generated point cloud comprising a portion of the one or more triangulated points;
• splat the lidar generated point cloud proximate to the portion of the one or more triangulated points to generate a splatted point cloud;
• generate a second depth map for at least the portion of the one or store triangulated points, wherein the second depth map comprises second depth information for the portion of the one or more triangulated points located within the splatted point cloud;
• and
• validate a triangulated point, of the portion of one or more triangulated points, based on comparing the first depth information to the second depth information.

A method of correcting a structure for motion (SfM) map comprising:

• receiving a structure for motion-generated map;
• generating a first depth map, wherein the first depth map comprises first depth information for one or more triangulated points located within the structure for motion-generated map;
• receiving a light detection and ranging (lidar) generated point cloud comprising a portion of the one or more triangulated points;
• splatting the lidar generated point cloud proximate to the portion of the one or more triangulated points to generate a splatted point cloud;
• generating a second depth map for at least the portion of the one or more triangulated points, wherein the second depth map comprises second depth information for the portion of the one or more triangulated points located within the splatted point cloud;
• identifying an incorrect triangulated point, of the portion of one or more triangulated points, based on comparing the first depth information to the second depth information;
• and
• removing the incorrect triangulated point from the structure for motion-generated map.