Mesh estimation of terrain
AssigneeCaterpillar Inc.
InventorsMichael S. McDaniel, Andrea Cappalunga, Susmita Dutta, Alberto Broggi, Stefano Cattani
Life of this patent
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Abstract
A method for generating a three dimensional grid of terrain includes receiving data representing a three-dimensional point cloud and generating a plurality of slices of the data. The method evaluates the slices using a swarm intelligence algorithm. The method is able to identify both terrain and objects. The terrain can also be identified as traversable terrain.
Claims20
A method for generating a three dimensional grid of terrain, comprising the steps:
- receiving data representing a three-dimensional point cloud;
- generating a plurality of slices of the data;
- evaluating the slices using a swarm intelligence algorithm;
- identifying terrain as a function of the evaluation;
- and
- generating a three-dimensional grid of the identified terrain.
A method for generating a three dimensional map of terrain, comprising the steps:
- receiving data representing a three dimensional point cloud;
- generating a series of three-dimensional slices of the data;
- accumulating points normal to two-dimensional reference planes into a series of two-dimensional planes;
- identifying a lowest cost path across each of the series of the two-dimensional planes using a swarm intelligence algorithm;
- and
- merging the lowest cost paths to produce a three-dimensional grid of terrain.
A method for analyzing three-dimensional terrain using a two-dimensional algorithm, comprising the steps:
- receiving data representing a three-dimensional point cloud;
- generating a plurality of three-dimensional slices, each associated with a two-dimensional reference plane;
- and
- accumulating points normal to the two-dimensional reference plane into pixels of brightness proportional to the number of points accumulated, the pixel brightness indicating terrain of substantially equal elevation.
A computer-based system for generating a three-dimensional grid of terrain, comprising:
- a receiving module for receiving data representing a three-dimensional point cloud;
- a slice generating module for generating a plurality of slices of the data;
- a swarm intelligence module for evaluating the slices using a swarm intelligence algorithm;
- a terrain identifying module for identifying terrain as a function of the evaluation;
- and
- a three-dimensional grid generating module for generating a three-dimensional grid of the identified terrain.
Dependencies are inferred from the claim text.