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公开(公告)号：US10650278B1
公开(公告)日：2020-05-12
申请号：US16021525
申请日：2018-06-28
申请人： Huy Tho Ho , Jingwei Wang , Kjell Fredrik Larsson
发明人： Huy Tho Ho , Jingwei Wang , Kjell Fredrik Larsson
摘要： Systems and methods for semantic labeling of point clouds using images. Some implementations may include obtaining a point cloud that is based on lidar data reflecting one or more objects in a space; obtaining an image that includes a view of at least one of the one or more objects in the space; determining a projection of points from the point cloud onto the image; generating, using the projection, an augmented image that includes one or more channels of data from the point cloud and one or more channels of data from the image; inputting the augmented image to a two dimensional convolutional neural network to obtain a semantic labeled image wherein elements of the semantic labeled image include respective predictions; and mapping, by reversing the projection, predictions of the semantic labeled image to respective points of the point cloud to obtain a semantic labeled point cloud.
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公开(公告)号：US11580328B1
公开(公告)日：2023-02-14
申请号：US17188079
申请日：2021-03-01
申请人： Huy Tho Ho , Jingwei Wang , Kjell Fredrik Larsson
发明人： Huy Tho Ho , Jingwei Wang , Kjell Fredrik Larsson
摘要： Systems and methods for semantic labeling of point clouds using images. Some implementations may include obtaining a point cloud that is based on lidar data reflecting one or more objects in a space; obtaining an image that includes a view of at least one of the one or more objects in the space; determining a projection of points from the point cloud onto the image; generating, using the projection, an augmented image that includes one or more channels of data from the point cloud and one or more channels of data from the image; inputting the augmented image to a two dimensional convolutional neural network to obtain a semantic labeled image wherein elements of the semantic labeled image include respective predictions; and mapping, by reversing the projection, predictions of the semantic labeled image to respective points of the point cloud to obtain a semantic labeled point cloud.
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公开(公告)号：US11333517B1
公开(公告)日：2022-05-17
申请号：US17222351
申请日：2021-04-05
摘要： A method includes capturing images at a device and analyzing the images at the device using a first analysis model to obtain information regarding an observed object that corresponds to a predetermined object. The method also includes determining whether the information regarding the observed object is consistent with stored mapping information, and, in response to determining that the information regarding the observed object is not consistent with the stored mapping information, modifying the stored mapping information based on the observed object.
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公开(公告)号：US10969237B1
公开(公告)日：2021-04-06
申请号：US16361278
申请日：2019-03-22
摘要： A method includes capturing images at a device and analyzing the images at the device using a first analysis model to obtain information regarding an observed object that corresponds to a predetermined object. The method also includes determining whether the information regarding the observed object is consistent with stored mapping information, and, in response to determining that the information regarding the observed object is not consistent with the stored mapping information, modifying the stored mapping information based on the observed object.
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