公开(公告)号：US12014533B2

公开(公告)日：2024-06-18

申请号：US17061176

申请日：2020-10-01

Applicant: CARNEGIE MELLON UNIVERSITY

Inventor： Steven Huber

IPC: G01S17/42 ,  G01S7/497 ,  G01S17/86 ,  G01S17/89 ,  G05D1/00 ,  G06V10/75 ,  G06V20/10 ,  G06V20/64

CPC classification number: G06V10/757 ,  G01S7/497 ,  G01S17/42 ,  G01S17/86 ,  G01S17/89 ,  G05D1/0011 ,  G05D1/0212 ,  G05D1/024 ,  G06V20/10 ,  G06V20/64

Abstract: A method includes acquiring with a scanning device a scan frame including a point cloud comprising a first plurality of points and describing a spatial characteristic of an environment, attributing each of the first plurality of points with a spatial confidence metric, discarding a portion of the first plurality of points when the spatial confidence metric of at least one of the first plurality of points is below a predefined threshold value and directing a user of the scanning device to acquire a second point cloud approximately coincident with the discarded portion of the first plurality of points.