公开(公告)号：US20160104289A1

公开(公告)日：2016-04-14

申请号：US14510869

申请日：2014-10-09

Applicant: CATERPILLAR INC.

Inventor： Hong CHANG ,  Paul Russell FRIEND

IPC: G06T7/00 ,  G06T7/20 ,  G05D1/02 ,  G01S17/89 ,  H04N13/02

CPC classification number: H04N13/207 ,  G01S17/89 ,  G05D1/0248 ,  G05D1/0274 ,  G06T7/33 ,  G06T7/55 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/30252

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.

Abstract translation: 公开了一种用于范围图生成的系统，方法和非暂时的计算机可读存储介质。 该方法可以包括从相机接收图像并从范围检测单元接收3D点云。 该方法还可以包括将3D点云从范围检测单元坐标变换为相机坐标。 该方法还可以包括将经变换的3D点云投影到与相机分辨率相对应的2D相机图像空间中以产生投影2D点。 该方法还可以包括基于范围阈值来过滤投影的2D点。 该方法还可以包括基于滤波的2D点和图像生成范围图。

公开(公告)号：US20160110878A1

公开(公告)日：2016-04-21

申请号：US14515009

申请日：2014-10-15

Applicant: CATERPILLAR INC.

Inventor： Hong CHANG ,  Paul Russell FRIEND

IPC: G06T7/20 ,  G06K9/00 ,  G06K9/52

CPC classification number: G06T7/20 ,  G06K9/00791 ,  G06K9/52 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20221 ,  G06T2207/30244 ,  G06T2207/30252

Abstract: A motion determination system is disclosed. The system may receive a first camera image and a second camera image. The system may receive a first range image corresponding to the first camera image. The system may generate a first range map by fusing the first camera image and the first range image. The system may iteratively process a plurality of first features in the first range map to determine a change in position of the machine. The plurality of second features may correspond to the plurality of first features, and each of the plurality of first and second features is denoted by feature points in an image space of the camera.

Abstract translation: 公开了一种运动判定系统。 系统可以接收第一相机图像和第二相机图像。 系统可以接收对应于第一相机图像的第一范围图像。 系统可以通过融合第一相机图像和第一范围图像来生成第一范围图。 系统可以迭代地处理第一范围图中的多个第一特征以确定机器位置的变化。 多个第二特征可以对应于多个第一特征，并且多个第一和第二特征中的每一个由相机的图像空间中的特征点表示。

公开(公告)号：US20140300732A1

公开(公告)日：2014-10-09

申请号：US13857670

申请日：2013-04-05

Applicant: Caterpillar Inc.

Inventor： Paul Russell FRIEND ,  Qi CHEN ,  Hong CHANG ,  Daniel Dale MORRIS ,  Jodi Seaborn GRAF

IPC: G06T7/00

CPC classification number: G06T7/0042 ,  G06T7/73 ,  G06T2200/04 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/30244 ,  G06T2207/30252

Abstract: A motion determination system is disclosed. The system may receive a first and a second camera image from a camera, the first camera image received earlier than the second camera image. The system may identify corresponding features in the first and second camera images. The system may receive range data comprising at least one of a first and a second range data from a range detection unit, corresponding to the first and second camera images, respectively. The system may determine first positions and the second positions of the corresponding features using the first camera image and the second camera image. The first positions or the second positions may be determined by also using the range data. The system may determine a change in position of the machine based on differences between the first and second positions, and a VO-based velocity of the machine based on the determined change in position.

Abstract translation: 公开了一种运动判定系统。 系统可以从相机接收第一和第二相机图像，第一相机图像比第二相机图像更早地接收。 该系统可以识别第一和第二相机图像中的对应特征。 系统可以分别接收来自范围检测单元的第一和第二范围数据中的至少一个的范围数据，对应于第一和第二摄像机图像。 系统可以使用第一相机图像和第二相机图像来确定相应特征的第一位置和第二位置。 第一位置或第二位置可以通过使用范围数据来确定。 该系统可以基于第一和第二位置之间的差异以及基于所确定的位置变化的机器的基于VO的速度来确定机器的位置的变化。

公开(公告)号：US20140204215A1

公开(公告)日：2014-07-24

申请号：US13745641

申请日：2013-01-18

Applicant: CATERPILLAR INC.

Inventor： Bradley Scott KRIEL ,  Daniel Morris ,  Hong CHANG

IPC: H04N7/18 ,  G01S13/86

CPC classification number: H04N7/181 ,  G01S13/867 ,  G01S13/931

Abstract: An image processing system has a plurality of cameras and a display that are mounted on a machine. The plurality of cameras are configured to generate image data for an environment of the machine. The image processing system also has a processor connected to the plurality of cameras and the display. The processor is configured to access the image data from the plurality of cameras, access parameters associated with the plurality of cameras, generate a unified image by combining the image data from the plurality of cameras based at least in part on the parameters, access state data associated with the machine, select a portion of the unified image based at least in part on the state data, and render the portion of the unified image on the display.

Abstract translation: 图像处理系统具有安装在机器上的多个摄像机和显示器。 多个相机被配置为生成用于机器的环境的图像数据。 图像处理系统还具有连接到多个相机和显示器的处理器。 处理器被配置为访问来自多个摄像机的图像数据，访问与多个摄像机相关联的参数，通过至少部分地基于参数组合来自多个摄像机的图像数据来生成统一图像，访问状态数据 与机器相关联，至少部分地基于状态数据选择统一图像的一部分，并将统一图像的部分呈现在显示器上。