# US 2018/0024244 A1 · System and Method for Increasing Resolution of Images Obtained from a Three-Dimensional Measurement System

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- Number: US 2018/0024244 A1
- Document ID: US20180024244A1
- Status: Published application
- Kind: A1
- Application number: 15/471,272
- Filed: 2017-03-28
- Published: 2018-01-25
- Earliest claimed: 2012-09-04
- Assignees: Digital Signal Corporation
- Applicants: Digital Signal Corporation
- Inventors: Richard L. Sebastian; Anatoley T. Zheleznyak
- Web page: https://patentgrep.com/patent/US20180024244A1

## CPC

- G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46)
- G01S 7/4808: {Evaluating distance, position or velocity data}
- G01S 7/497: Means for monitoring or calibrating
- G01S 17/58: Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
- G01S 17/89: for mapping or imaging
- G06T 5/73: Deblurring; Sharpening
- G01S 17/34: using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

A system uses range and Doppler velocity measurements from a lidar system and images from a video system to estimate a six degree-of-freedom trajectory (6DOF) of a target. The 6DOF transformation parameters are used to transform multiple images to the frame time of a selected image, thus obtaining multiple images at the same frame time. These multiple images may be used to increase a resolution of the image at each frame time, obtaining the collection of the superresolution images.

## Claims

### Claim 1

A system for increasing resolution of a three-dimensional image of a target, the system comprising:
a lidar subsystem configured to direct at least two beams toward the target and generate a plurality of three-dimensional (3D) measurements for a plurality of points on the target for each of the at least two beams;
a video subsystem configured to provide a plurality of two-dimensional (2D) images of the target; and
a processor configured to:
receive, from the lidar subsystem, the 3D measurements for the plurality of points on the target,
receive, from the video subsystem, the plurality of 2D images of the target,
generate a plurality of three-dimensional (3D) images of the target based on the 3D measurements for the plurality of points on the target and the 2D images of the target, wherein each of the 3D images is generated at a frame time associated with each of the 2D images of the target,
remove motion blur in each of the plurality of 3D images;
transform each of the plurality of 3D images to a frame time of an original 3D image based on a plurality of transformation parameters, and
determine enhanced information for the original 3D image based on each of the transformed plurality of 3D images.

### Claim 2 (depends on 1)

The system of claim 1, wherein the target is a moving target.

### Claim 3 (depends on 1)

The system of claim 1, wherein the target is a stationary target, and wherein the lidar subsystem and the video subsystem move relative to the stationary target.

### Claim 4 (depends on 1)

The system of claim 1, wherein the processor configured to remove motion blur is further configured to:
remove motion blur based on pixel velocity information obtained from the plurality of transformation parameters.