公开(公告)号：US09205562B1

公开(公告)日：2015-12-08

申请号：US14577664

申请日：2014-12-19

Applicant: Google Inc.

Inventor： Kurt Konolige ,  Cedric Cagniart

IPC: G06F7/00 ,  G06F19/00 ,  B25J9/16 ,  B25J19/02

CPC classification number: B25J9/1687 ,  G05B2219/40006 ,  G05B2219/45056 ,  G05B2219/50378 ,  Y10S901/09 ,  Y10S901/46

Abstract: An example method includes receiving a plurality of detected depth points indicative of depths of at least one surface and determining a projection of the detected depth points onto a plane. The method may also include identifying a plurality of first detected points, where a first detected point comprises a first point at a particular location of the plane in the projection. The method may also include storing digital entries corresponding to points located within a threshold buffer from one of the first detected points relative to the plane. The method may additionally include determining values for the digital entries, where a value for a digital entry corresponding to a particular point comprises an accumulation of distances from detected depth points that cross the particular point. The method may further include determining a digital height map representative of heights of the at least one surface relative to the plane.

Abstract translation: 一个示例性方法包括：接收多个检测到的指示至少一个表面的深度的深度点，并确定检测到的深度点在平面上的投影。 该方法还可以包括识别多个第一检测点，其中第一检测点包括投影中平面的特定位置处的第一点。 所述方法还可以包括相对于所述第一检测点之一相对于所述平面存储对应于位于阈值缓冲器内的点的数字条目。 该方法可以另外包括确定数字条目的值，其中对应于特定点的数字条目的值包括与经过特定点的检测到的深度点的距离的累积。 该方法还可以包括确定代表相对于该平面的至少一个表面的高度的数字高度图。