Systems and methods for generating focused threedimensional (3d) point clouds

Patent metadata

Field	Value
Publication number	US-2024094396-A1
Application number	US-202318498087-A
Country	US
Kind code	A1
Filing date	Oct 31, 2023
Priority date	May 18, 2021
Publication date	Mar 21, 2024
Grant date	—

Abstract

A system and method for generating a focused three-dimensional (3D) point cloud is disclosed. A respective 3D point cloud is generated based on returns of a respective sequence of energy pulses that is emitted towards one or more regions-of-interest (ROIs) within a field-of-view (FOV) during a respective scan of the FOV, the returns including one or more secondary returns from one or more points within the FOV. During an additional scan of the FOV, subsequent to the respective scan, an additional sequence of energy pulses is emitted to generate a focused 3D point cloud that includes additional information regarding one or more selected points of the points associated with the secondary returns relative to the respective 3D point cloud.

First claim

1 . A system for generating a focused three-dimensional (3D) point cloud, the system comprising:
an active 3D scanner, comprising:
at least one detector;
a scanning mechanism configured to scan a field-of-view (FOV) of the at least one detector; and
at least one energy emitting source configured to emit energy pulses, in synchronization with the scanning mechanism; and
a processing circuitry configured to:
during a respective scan of the FOV, control the at least one energy emitting source to emit a respective sequence of respective energy pulses towards one or more regions-of-interest (ROIs) within the FOV, in synchronization with the scanning mechanism;
obtain respective readings, from the at least one detector, based on respective returns of the respective energy pulses, giving rise to a respective 3D point cloud, the respective returns including a secondary return, the secondary return being a return of a respective energy pulse of the respective energy pulses from a given point of a second object within the FOV after the respective energy pulse travels through a first object;
control the at least one energy emitting source to emit an additional sequence of additional energy pulses, being different than the respective sequence of respective energy pulses, during an additional scan of the FOV, subsequent to the respective scan, wherein one or more given additional energy pulses of the additional energy pulses are emitted towards the given point to provide, in a focused 3D point cloud, additional information regarding the given point relative to the respective 3D point cloud; and
obtain additional readings, from the at least one detector, based on additional returns of the additional energy pulses, giving rise to the focused 3D point cloud.

2 . The system of claim 1 , wherein a given additional energy pulse of the given additional energy pulses strikes the given point at a first angle of incidence that is different than a second angle of incidence at which the respective energy pulse strikes the given point, wherein the given point is mapped in the focused 3D point cloud to reflect the secondary return and the additional return of the given additional energy pulse that is returned from the given point.

3 . The system of claim 1 , wherein the given additional energy pulses are greater in number than the respective energy pulses that are emitted towards the given point.

4 . The system of claim 1 , wherein the secondary return is associated with one or more parameters, and wherein at least one of the given additional energy pulses is emitted towards the given point based on one or more of the parameters.

5 . The system of claim 1 , wherein the at least one energy emitting source is a Light Detection and Ranging (LiDAR), and wherein the energy pulses are laser pulses.

6 . The system of claim 1 , wherein the at least one energy emitting source is a radar, and wherein the energy pulses are radio pulses.

7 . The system of claim 6 , wherein the radar is a frequency-modulated continuous-wave (FMCW) radar.

8 . A method for generating a focused three-dimensional (3D) point cloud, the method comprising:
during a respective scan of a field-of-view (FOV) of at least one detector of an active 3D scanner by a scanning mechanism of the active 3D scanner, controlling at least one energy emitting source of the active 3D scanner to emit a respective sequence of respective energy pulses towards one or more regions-of-interest (ROIs) within the FOV, in synchronization with the scanning mechanism; obtaining respective readings, from the at least one detector, based on respective returns of the respective energy pulses, giving rise to a respective 3D point cloud, the respective returns including a secondary return, the secondary return being a return of a respective energy pulse of the respective energy pulses from a given point of a second object within the FOV after the respective energy pulse travels through a first object; controlling the at least one energy emitting source to emit an additional sequence of additional energy pulses, being different than the respective sequence of respective energy pulses, during an additional scan of the FOV, subsequent to the respective scan, wherein one or more given additional energy pulses of the additional energy pulses are emitted towards the given point to provide, in a focused 3D point cloud, additional information regarding the given point relative to the respective 3D point cloud; and obtaining additional readings, from the at least one detector, based on additional returns of the additional energy pulses, giving rise to the focused 3D point cloud.

9 . The method of claim 8 , wherein a given additional energy pulse of the additional energy pulses strikes the given point at a first angle of incidence that is different than a second angle of incidence at which the respective energy pulse strikes the given point, wherein the given point is mapped in the focused 3D point cloud to reflect the secondary return and an additional return of the given additional energy pulse that is returned from the given point.

10 . The method of claim 8 , wherein the given additional energy pulses are greater in number than the respective energy pulses that are emitted towards the given point.

11 . The method of claim 8 , wherein the secondary return is associated with one or more parameters, and wherein at least one of the given additional energy pulses is emitted towards the given point based on one or more of the parameters.

12 . The method of claim 8 , wherein the at least one energy emitting source is a Light Detection and Ranging (LiDAR), and wherein the energy pulses are laser pulses.

13 . The method of claim 8 , wherein the at least one energy emitting source is a radar, and wherein the energy pulses are radio pulses.

14 . The method of claim 13 , wherein the radar is a frequency-modulated continuous-wave (FMCW) radar.

15 . A non-transitory computer readable storage medium having computer readable program code embodied therewith, the computer readable program code, executable by processing circuitry of a computer to perform a method for generating a focused three-dimensional (3D) point cloud, the method comprising:
during a respective scan of a field-of-view (FOV) of at least one detector of an active 3D scanner by a scanning mechanism of the active 3D scanner, controlling at least one energy emitting source of the active 3D scanner to emit a respective sequence of respective energy pulses towards one or more regions-of-interest (ROIs) within the FOV, in synchronization with the scanning mechanism; obtaining respective readings, from the at least one detector, based on respective returns of the respective energy pulses, giving rise to a respective 3D point cloud, the respective returns including a secondary return, the secondary return being a return of a respective energy pulse of the respective energy pulses from a given point of a second object within the FOV after the respective energy pulse travels through a first object; controlling the at least one energy emitting source to emit an additional sequence of additional energy pulses, being different than the respective sequence of respective energy pulses, during an additional scan of the FOV, subsequent to the respective scan, wherein one or more given additional energy pulses of the additional energy pulses are emitted towards the given point to provide, in a focused 3D point cloud, additional information regarding the given point relative to the respective 3D point cloud; and obtaining additional readings, from the at least one dete

Assignees

• Elbit Systems Ltd

Inventors

• Ophir Yoav
• Hakim Dan
• David Assaf
• Demri Tamir

Classifications

• G01S13/887

  for detection of concealed objects, e.g. contraband or weapons · CPC title

• G01S17/89 Primary

  for mapping or imaging · CPC title

• G01S7/4817 Primary

  relating to scanning · CPC title

• G01S7/486

  Receivers · CPC title

• G01S7/4868

  Controlling received signal intensity or exposure of sensor · CPC title