Real-time range map generation
AssigneeCaterpillar Inc.
InventorsHong CHANG, Paul Russell FRIEND
Life of this patent
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Abstract
A system, method, and non-transitory computer-readable storage medium for range map generation is disclosed. The method may include receiving an image from a camera and receiving a 3D point cloud from a range detection unit. The method may further include transforming the 3D point cloud from range detection unit coordinates to camera coordinates. The method may further include projecting the transformed 3D point cloud into a 2D camera image space corresponding to the camera resolution to yield projected 2D points. The method may further include filtering the projected 2D points based on a range threshold. The method may further include generating a range map based on the filtered 2D points and the image.
Claims20
A range map generation system comprising:
- a range detection unit;
- a camera;
- and
- a controller configured to execute instructions to perform operations including:
- receiving an image from the camera;
- receiving a 3D point cloud from the range detection unit;
- transforming the 3D point cloud from range detection unit coordinates to camera coordinates;
- projecting the transformed 3D point cloud into a 2D camera image space corresponding to the camera resolution to yield projected 2D points;
- filtering the projected 2D points based on a range threshold;
- and
- generating a range map based on the filtered 2D points and the image.
A computer-implemented method for range map generation, the method comprising:
- receiving an image from a camera;
- receiving a 3D point cloud from a range detection unit;
- transforming the 3D point cloud from range detection unit coordinates to camera coordinates;
- projecting the transformed 3D point cloud into a 2D camera image space corresponding to the camera resolution to yield projected 2D points;
- filtering the projected 2D points based on a range threshold;
- and
- generating a range map based on the filtered 2D points and the image.
A non-transitory computer-readable storage medium storing instructions that enable a computer to implement a method for range map generation, the method comprising:
- receiving an image from a camera;
- receiving a 3D point cloud from a range detection unit;
- transforming the 3D point cloud from range detection unit coordinates to camera coordinates;
- projecting the transformed 3D point cloud into a 2D camera image space corresponding to the camera resolution to yield projected 2D points;
- filtering the projected 2D points based on a range threshold;
- and
- generating a range map based on the filtered 2D points and the image.
Dependencies are inferred from the claim text.