Methods and apparatus for point cloud data processing

Patent metadata

Field	Value
Publication number	US-9678963-B2
Application number	US-201414468875-A
Country	US
Kind code	B2
Filing date	Aug 26, 2014
Priority date	Mar 1, 2012
Publication date	Jun 13, 2017
Grant date	Jun 13, 2017

Abstract

Methods and apparatus are provided for processing data representing three-dimensional points organized in a data structure wherein each point has multiple components, the data is organized in a respective layer per component, each layer is segmented in cells of a two-dimensional grid, the cells are arranged such that the components of a given point are contained in corresponding cells of multiple layers, the cells are grouped in patches by layer, and the patches are arranged such that the components of an array of points is represented by corresponding patches of multiple layers. At least one first criterion and at least one second criterion are obtained. Data are retrieved from cells of patches meeting the at least one first criterion and from layers meeting the at least one second criterion. The retrieved data are processed to obtain a derivative data set.

First claim

The invention claimed is:

1. A method of processing at least one set of data representing three-dimensional points organized in a data structure wherein, for each set,
each three-dimensional point has multiple components,
the data is organized in a respective layer per component,
each layer is segmented in cells of a two-dimensional grid, wherein the layers comprise complete layers and preview layers, each preview layer having cells containing data from a subset of the cells of a complete layer,
the cells are arranged such that the components of a given point are contained in corresponding cells of multiple layers,
the cells are grouped in patches by layer, and
the patches are arranged such that the components of an array of points is represented by corresponding patches of multiple layers,
the method comprising:
a. obtaining at least one first criterion, wherein obtaining the at least one first criterion comprises:
i. displaying intensity values of cells of a preview layer of a first data set as a two-dimensional array of pixels, the preview layer having cells containing data from a subset of cells of a complete layer of the first data set,
ii. obtaining coordinates of a selected location in the two-dimensional array,
iii. identifying a cell of the preview layer of the first data set corresponding to the selected location as a seed cell,
iv. growing a region of cells of the preview layer of the first data set including the seed cell and adjacent cells of the preview layer cells containing data whose values satisfy a continuity criterion, and
v. identifying patches of the preview layer of the first data set containing cells of the region;

b. obtaining at least one second criterion, wherein obtaining the at least one second criterion comprises identifying complete layers of the first data set whose cells contain data representing intensity, range, vertical angle and horizontal angle of points;
c. retrieving data from cells of patches meeting the at least one first criterion and meeting the at least one second criterion, wherein retrieving the data comprises retrieving from the first data set values from cells of the region,
d. processing the retrieved data to obtain a derivative data set, wherein processing the retrieved data to obtain the derivative data set comprises:
i. selecting cells of the identified patches of the complete layers of the first data set lying within the region as selected cells, and
ii. computing Cartesian coordinates of each of the three-dimensional points corresponding to the selected cells of the first data set from a range value, a horizontal angle value and a vertical angle value of the respective three-dimensional point,

e. storing the derivative data set, wherein storing the derivative data set comprises storing the Cartesian coordinates as a set of points.

2. The method of claim 1 , further comprising processing a further data set by:
a. obtaining at least one first criterion for the further data set by:
i. using at least one of the three-dimensional points from the first data set to identify a three-dimensional point of the further data set as a seed cell for the further data set,
ii. growing a region of cells of the preview layer of the further data set including the seed cell for the further data set and adjacent cells of the preview layer cells of the further data set containing data whose values satisfy a continuity criterion, and
iii. identifying patches of the preview layer of the further data set containing cells of the region of the preview layer of the further data set,

b. obtaining at least one second criterion for the further data set by identifying complete layers of the further data set whose cells contain data representing intensity, range, vertical angle and horizontal angle of points,
c. retrieving data by retrieving values from cells of the region, of the further data set,
d. processing the retrieved data from the further data set to obtain a further derivative data set by:
i. selecting cells of the identified patches of the complete layers of the further data set lying within the region as selected cells of the further data set, and
ii. computing Cartesian coordinates of each of the three-dimensional points corresponding to the selected cells of the further data set from a range value, a horizontal angle value and a vertical angle value of the respective three-dimensional point, and

e. storing the further derivative data set by storing the Cartesian coordinates as a set of points.

3. A method of processing at least one set of data representing three-dimensional points organized in a data structure wherein, for each set,
each three-dimensional point has multiple components,
the data is organized in a respective layer per component,
each layer is segmented in cells of a two-dimensional grid, wherein the layers comprise complete layers and preview layers, each preview layer having cells containing data from a subset of the cells of a complete layer,
the cells are arranged such that the components of a given point are contained in corresponding cells of the multiple layers,
the cells are grouped in patches by layer, and
the patches are arranged such that the components of an array of points is represented by corresponding patches of multiple layers,
the method comprising:

a. obtaining the at least one first criterion comprises selecting a preview layer of each of multiple data sets,
b. obtaining the at least one second criterion comprises identifying complete layers of the multiple data sets whose cells contain data representing position and intensity of points,
c. retrieving data from cells of patches meeting the at least one first criterion and meeting the at least one second criterion, wherein retrieving data comprises retrieving position and intensity values from cells of preview layers of the multiple data sets,
d. processing the retrieved data to obtain a derivative data set by, for each data set, applying at least one continuity criterion to segment the object, and creating a derived preview layer with cells having object labels, and
e. storing the derivative data set by storing the derived preview layers.

4. Apparatus comprising a processor and a storage element with instructions that enable the processor to perform a method according to claim 1 .

5. A computer program comprising a set of instructions adapted to enable a processor to perform a method according to claim 1 .

6. A computer program product comprising a tangible medium on which is embodied a set of instructions adapted to enable a processor to perform a method according to claim 1 .

Assignees

• Trimble Ab

Inventors

• Hernandez Londono Jorge
• Chaperon Thomas
• Tremblay Guillaume

Classifications

• G06T2215/16

  Using real world measurements to influence rendering · CPC title

• G06F17/30126

  Physics · mapped topic

• G06F17/30153

  Physics · mapped topic

• G06F17/3028

  Physics · mapped topic

• G06F17/30091

  Physics · mapped topic