公开(公告)号：US20190311546A1

公开(公告)日：2019-10-10

申请号：US16379728

申请日：2019-04-09

Applicant: drive.ai Inc.

Inventor： Kah Seng Tay ,  Qing Sun ,  James Patrick Marion

IPC: G06T19/00 ,  G01S17/89 ,  G01S17/93 ,  G05D1/00 ,  G06T7/521

Abstract: One variation of a method includes: accessing a 2D color image recorded by a 2D color camera and a 3D point cloud recorded by a 3D depth sensor at approximately a first time, the 2D color camera and the 3D depth sensor defining intersecting fields of view and facing outwardly from an autonomous vehicle; detecting a cluster of points in the 3D point cloud representing a continuous surface approximating a plane; isolating a cluster of color pixels in the 2D color image depicting the continuous surface; projecting the cluster of color pixels onto the plane to define a set of synthetic 3D color points in the 3D point cloud, the cluster of points and the set of synthetic 3D color points representing the continuous surface; and rendering points in the 3D point cloud and the set of synthetic 3D color points on a display.