Systems and methods for processing mapping and modeling data

Patent metadata

Field	Value
Publication number	US-9892491-B2
Application number	US-201514685559-A
Country	US
Kind code	B2
Filing date	Apr 13, 2015
Priority date	Feb 5, 2010
Publication date	Feb 13, 2018
Grant date	Feb 13, 2018

Abstract

A method for post-processing georeferenced mapping data includes providing positioning data indicating a position of a data acquisition system in a defined space at specific moments in time, providing ranging data indicating relative position of objects in the defined space with respect to the data acquisition system at the specific moments in time, performing a smoothing process on the positioning data to determine smoothed best estimate of trajectory (SBET) data for trajectory of the data acquisition system, performing a scan matching process on the SBET data and the ranging data to identify objects and/or object features in the defined space, performing a process to revise the SBET data so that the SBET data aligns with the identified objects and/or object features and storing the revised SBET data with the range data.

First claim

What is claimed is:

1. A system for generating an image map, comprising:
a sensor platform;
a positioning device coupled to the sensor platform, the positioning device comprising at least one of a global positioning system (GPS), an inertial measurement system, or an odometry system configured to generate positioning data;
a ranging device coupled to the sensor platform, the ranging device comprising at least one of a geospatial data sensor or a ranging system configured to generate ranging data;
an imaging device coupled to the sensor platform, the imaging device comprising a camera configured to generate image data; and
one or more processors, the one or more processors configured to:
obtain the positioning data indicating a position of a data acquisition system in a defined space at specific moments in time;
obtain the ranging data indicating relative position of objects in the defined space with respect to the data acquisition system at the specific moments in time;
obtain the image data of the defined space at the specific moments in time;
perform a smoothing process on the positioning data to determine smoothed best estimate of trajectory (SBET) data of a trajectory of the data acquisition system over the specific moments in time;
perform a scan matching process on the SBET data and the ranging data to identify objects and/or object features in the defined space;
perform a process to revise the SBET data so that the SBET data aligns with the identified objects and/or object features to revise the trajectory of the data acquisition system over the specific moments in time;
generate a point cloud using the revised SBET data and the range data and
overlay the image data on the generated point cloud to create the image map of the defined space.

2. The system of claim 1 , wherein the ranging device includes a light detection and ranging (LIDAR) system.

3. The system of claim 1 , wherein the positioning device includes an inertial measurement unit (IMU).

4. The system of claim 1 , wherein the one or more processors are further configured to perform the scan matching process on the SBET data and the ranging data to identify linear objects and/or linear object features in the defined space, and to revise the SBET data so that the identified linear objects and/or linear object features remain linear.

5. The system of claim 1 , further comprising a storage device communicatively coupled to the positioning device, the ranging device, the imaging device, and the one or more processors, wherein the storage device is configured to store the positioning data, the ranging data, and the image data and to provide the positioning data, the ranging data, and the image data to the one or more processors.

6. The system of claim 1 , wherein the range data comprises data collected from at least one image taken by a camera.

7. The system of claim 1 , wherein the positioning data is generated relative to at least one fixed reference point.

Assignees

• Trimble Inc

Inventors

• Canter Peter

Classifications

• G06T7/521

  from laser ranging, e.g. using interferometry; from the projection of structured light · CPC title

• G06T7/75

  involving models · CPC title

• G06K9/00691

  Physics · mapped topic

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title

• G06T19/20

  Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts · CPC title