Ground surface imaging combining LiDAR and camera data
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United States of America Patent
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Jun 20, 2023
Grant Date -
Jun 24, 2021
app pub date -
Dec 19, 2019
filing date -
Dec 19, 2019
priority date (Note) -
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Abstract
A system uses data captured by vehicle-mounted sensors to generate a view of a ground surface. The system does this by receiving digital image frames and associating a location and pose of the vehicle that captured the image with each digital image frame. The system will access a three dimensional (3D) ground surface estimation model of the ground surface, select a region of interest (ROI) of the ground surface, and select a vehicle pose. The system will identify digital image frames that are associated with the pose and also with a location that corresponds to the ROI. The system will generate a visual representation of the ground surface in the ROI by projecting ground data for the ROI from the ground surface estimation model to normalized 2D images that are created from the digital image frames. The system will save the visual representation to a two-dimensional grid.
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