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公开(公告)号：US11270501B2
公开(公告)日：2022-03-08
申请号：US17049312
申请日：2019-04-30
发明人： Pavel Vechersky , Mark Cox , Paulo Borges , Thomas Lowe , Michael Bosse
摘要： A method for use in colourising a three-dimensional (3D) point cloud of an environment, the method including determining timing information indicative of a time of capture of a frame; identifying at least some 3D points of the point cloud in the frame based on the position of the camera and determining a local point cloud that captures a scene in the immediate vicinity of the camera, wherein a visibility check is performed on the local point cloud to determine points in the local point cloud that are visible from the perspective of the camera for a given frame; and determining a candidate colour for the at least some of the 3D points using a colour of a corresponding pixel in the frame extracted from the video data; and, assigning a colour to one or more points of the 3D point cloud using candidate colours obtained from multiple frames.
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公开(公告)号：US11852501B2
公开(公告)日：2023-12-26
申请号：US17911508
申请日：2021-03-18
CPC分类号： G01C21/367 , B60W60/001 , G01C21/3822 , G01C21/3841 , G06T11/001 , B60W2555/00
摘要： A system for generating a costmap for use in planning a path through an environment, the system including one or more suitably programmed processing devices configured to obtain a map of the environment, acquire traversal data indicative of an ability to traverse parts of the environment, for each part of the environment, calculate a traversal indicator indicative of the ability to traverse the part, the traversal indicator being calculated in a colour space, and colourise the map using the traversal indicators to thereby generate a colourised costmap indicative of an ability to traverse the environment, the colourised costmap allowing path planning to be performed.
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公开(公告)号：US11967023B2
公开(公告)日：2024-04-23
申请号：US17576771
申请日：2022-01-14
发明人： Pavel Vechersky , Mark Cox , Paulo Borges , Thomas Lowe , Michael Bosse
CPC分类号： G06T17/05 , G06T7/20 , G06T7/80 , G06T19/20 , G06T2207/10016 , G06T2207/10028 , G06T2207/30241 , G06T2219/2012
摘要： A method for use in colourising a three-dimensional (3D) point cloud of an environment, the method including determining timing information indicative of a time of capture of a frame; identifying at least some 3D points of the point cloud in the frame based on the position of the camera and determining a local point cloud that captures a scene in the immediate vicinity of the camera, wherein a visibility check is performed on the local point cloud to determine points in the local point cloud that are visible from the perspective of the camera for a given frame; and determining a candidate colour for the at least some of the 3D points using a colour of a corresponding pixel in the frame extracted from the video data; and, assigning a colour to one or more points of the 3D point cloud using candidate colours obtained from multiple frames.
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公开(公告)号：US20220139033A1
公开(公告)日：2022-05-05
申请号：US17576771
申请日：2022-01-14
发明人： Pavel Vechersky , Mark Cox , Paulo Borges , Thomas Lowe , Michael Bosse
摘要： A method for use in colourising a three-dimensional (3D) point cloud of an environment, the method including determining timing information indicative of a time of capture of a frame; identifying at least some 3D points of the point cloud in the frame based on the position of the camera and determining a local point cloud that captures a scene in the immediate vicinity of the camera, wherein a visibility check is performed on the local point cloud to determine points in the local point cloud that are visible from the perspective of the camera for a given frame; and determining a candidate colour for the at least some of the 3D points using a colour of a corresponding pixel in the frame extracted from the video data; and, assigning a colour to one or more points of the 3D point cloud using candidate colours obtained from multiple frames.
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