公开(公告)号：US09870437B2

公开(公告)日：2018-01-16

申请号：US14551502

申请日：2014-11-24

Applicant: Google Inc.

Inventor： Arthur Robert Pope ,  Ioannis Stamos

IPC: G06F17/50 ,  G06T17/05

CPC classification number: G06F17/5004 ,  G06T17/05 ,  G06T2210/56

Abstract: Computer-implemented methods and systems of detecting and modeling curbs include receiving a cloud of three-dimensional (3D) data points acquired along street locations. A plurality of vertical scanlines (e.g., arrays of 3D data points obtained at given horizontal locations) are identified within the cloud of 3D data points. One or more curb points indicating the potential presence of a curb in the plurality of vertical scanlines are identified. A synthesized set of non-overlapping curb curves are generated in order to close gaps between certain curb points while removing certain other outlier curb points. Successive curb curves in the synthesized set of non-overlapping curb curves are then identified as belonging to one or more curb segments. A curb model that fits each of the one or more curb segments to one or more curb model shape representations can then be generated.

公开(公告)号：US09240055B1

公开(公告)日：2016-01-19

申请号：US14487650

申请日：2014-09-16

Applicant: Google Inc.

Inventor： Yanxi Liu ,  Arthur Robert Pope ,  Vivek Verma ,  Stephen Charles Hsu

IPC: G06K9/40 ,  G06K9/46 ,  G06T7/60 ,  G06K9/52 ,  G06T11/60

CPC classification number: G06T7/608 ,  G06T5/005 ,  G06T7/68 ,  G06T11/60

Abstract: The aspects described herein relate to replacing pixels in images in order to remove obstructions from images. In one example, an image of a scene having symmetrical features and image information identifying at least one pixel of the image corresponding to a hole to be filled may be received. This hole may correspond to an obstruction in the image. A set of symmetry axes may be identified based on the symmetrical features. A symmetry map identifying correspondences between different pixels in the image based on the set of symmetry axes may be generated. A correspondence between the at least one pixel corresponding to a hole to be filled and a second pixel of the image is identified based at least in part on the symmetry map and the image information. The at least one pixel may be altered based on the identified correspondence in order to remove the obstruction.

Abstract translation: 本文描述的方面涉及替换图像中的像素，以便从图像中去除障碍物。 在一个示例中，可以接收具有对称特征的场景的图像和识别与要填充的孔相对应的图像的至少一个像素的图像信息。 该孔可以对应于图像中的障碍物。 可以基于对称特征来识别一组对称轴。 可以生成基于对称轴集合来识别图像中的不同像素之间的对应关系的对称图。 至少部分地基于对称图和图像信息来识别与要填充的孔相对应的至少一个像素与图像的第二像素之间的对应关系。 可以基于所识别的对应关系来改变至少一个像素，以便去除障碍物。

公开(公告)号：US09305241B2

公开(公告)日：2016-04-05

申请号：US13953030

申请日：2013-07-29

Applicant: Google Inc.

Inventor： Arthur Robert Pope

IPC: G06T7/00 ,  G06K9/62 ,  G01S17/50 ,  G01S17/89 ,  G01S7/48 ,  G06K9/00

CPC classification number: G06K9/6228 ,  G01S7/4808 ,  G01S17/50 ,  G01S17/89 ,  G06K9/00214 ,  G06T2207/10028

Abstract: Systems and methods for reducing a point cloud data set are provided. According to aspects of the present disclosure, a method includes receiving a point of a point cloud data set, the point having three-dimensional coordinates. The point's coordinates are mapped to a location to determine whether a different point's coordinates have already been mapped to the location. The point is discarded when a different point's coordinates have been mapped to the location.

Abstract translation: 提供了减少点云数据集的系统和方法。 根据本公开的方面，一种方法包括接收点云数据集的点，该点具有三维坐标。 点的坐标被映射到一个位置，以确定不同点的坐标是否已经映射到该位置。 当不同点的坐标已映射到位置时，该点被丢弃。

公开(公告)号：US20160147915A1

公开(公告)日：2016-05-26

申请号：US14551502

申请日：2014-11-24

Applicant: Google Inc.

Inventor： Arthur Robert Pope ,  Ioannis Stamos

IPC: G06F17/50 ,  G06T17/05

CPC classification number: G06F17/5004 ,  G06T17/05 ,  G06T2210/56

Abstract: Computer-implemented methods and systems of detecting and modeling curbs include receiving a cloud of three-dimensional (3D) data points acquired along street locations. A plurality of vertical scanlines (e.g., arrays of 3D data points obtained at given horizontal locations) are identified within the cloud of 3D data points. One or more curb points indicating the potential presence of a curb in the plurality of vertical scanlines are identified. A synthesized set of non-overlapping curb curves are generated in order to close gaps between certain curb points while removing certain other outlier curb points. Successive curb curves in the synthesized set of non-overlapping curb curves are then identified as belonging to one or more curb segments. A curb model that fits each of the one or more curb segments to one or more curb model shape representations can then be generated.

Abstract translation: 计算机实现的检测和建模路缘的方法和系统包括接收沿街道位置采集的三维（3D）数据点云。 多个垂直扫描线（例如，在给定水平位置处获得的3D数据点的阵列）在3D数据点的云内被识别。 识别指示在多个垂直扫描线中可能存在路缘石的一个或多个路缘点。 生成一组不重叠的路缘曲线，以便在消除某些其他异常值路边点之间，缩小某些路缘点之间的间隙。 然后将合成的非重叠路缘曲线组中的连续路缘曲线识别为属于一个或多个路缘段。 然后可以生成将一个或多个路缘段中的每一个适合于一个或多个路缘石模型形状表示的路缘模型。

公开(公告)号：US20150029186A1

公开(公告)日：2015-01-29

申请号：US13953030

申请日：2013-07-29

Applicant: Google Inc.

Inventor： Arthur Robert Pope

IPC: G06T17/05

CPC classification number: G06K9/6228 ,  G01S7/4808 ,  G01S17/50 ,  G01S17/89 ,  G06K9/00214 ,  G06T2207/10028

Abstract: Systems and methods for reducing a point cloud data set are provided. According to aspects of the present disclosure, a method includes receiving a point of a point cloud data set, the point having three-dimensional coordinates. The point's coordinates are mapped to a location to determine whether a different point's coordinates have already been mapped to the location. The point is discarded when a different point's coordinates have been mapped to the location.

Abstract translation: 提供了减少点云数据集的系统和方法。 根据本公开的方面，一种方法包括接收点云数据集的点，该点具有三维坐标。 点的坐标被映射到一个位置，以确定不同点的坐标是否已经映射到该位置。 当不同点的坐标已映射到位置时，该点被丢弃。