公开(公告)号：US11682142B2

公开(公告)日：2023-06-20

申请号：US17020195

申请日：2020-09-14

Applicant: Raytheon Company

Inventor： Stephen J. Raif ,  Allen Hainline

IPC: G06T7/90 ,  G06T15/08 ,  G06T17/10

CPC classification number: G06T7/90 ,  G06T15/08 ,  G06T17/10 ,  G06T2207/10028

Abstract: Subject matter regards colorizing a three-dimensional (3D) point set. A method of colorizing a 3D point can include voxelizing 3D points including the 3D point into voxels such that a voxel of the voxels including the 3D point includes a voxel subset of the 3D points, projecting the voxel subset to respective image spaces of first and second images used to generate the 3D points, and associating a color value, determined based on a respective number of pixels of the first and second images to which the voxel subset projects, with the 3D point.

公开(公告)号：US20210192789A1

公开(公告)日：2021-06-24

申请号：US17020195

申请日：2020-09-14

Applicant: Raytheon Company

Inventor： Stephen J. Raif ,  Allen Hainline

IPC: G06T7/90 ,  G06T15/08 ,  G06T17/10

Abstract: Subject matter regards colorizing a three-dimensional (3D) point set. A method of colorizing a 3D point can include voxelizing 3D points including the 3D point into voxels such that a voxel of the voxels including the 3D point includes a voxel subset of the 3D points, projecting the voxel subset to respective image spaces of first and second images used to generate the 3D points, and associating a color value, determined based on a respective number of pixels of the first and second images to which the voxel subset projects, with the 3D point.

公开(公告)号：US10553020B1

公开(公告)日：2020-02-04

申请号：US15926285

申请日：2018-03-20

Applicant: Raytheon Company

Inventor： Allen Hainline ,  Richard W. Ely

IPC: G06T15/60 ,  G06T17/05

Abstract: A method can include determining, based on elevation data of a geographic region corresponding to a location at which an image was captured and a solar elevation angle at a time the image was captured, whether each pixel of the image is a shadow or a non-shadow to create a shadow mask of the image, generating an eroded shadow mask that includes the shadow mask with a specified number of pixels from a perimeter of each shadow in the shadow mask changed to respective values corresponding to non-shadows, generating a dilated shadow mask that includes the specified number of pixels in the shadow mask changed to values corresponding to shadows, and refining the shadow mask using the eroded shadow mask and the dilated shadow mask to create a refined shadow mask.