Systems and methods for automated water detection using visible sensors

摘要

Systems and methods are disclosed that include automated machine vision that can utilize images of scenes captured by a 3D imaging system configured to image light within the visible light spectrum to detect water. One embodiment includes autonomously detecting water bodies within a scene including capturing at least one 3D image of a scene using a sensor system configured to detect visible light and to measure distance from points within the scene to the sensor system, and detecting water within the scene using a processor configured to detect regions within each of the at least one 3D images that possess at least one characteristic indicative of the presence of water.

主权项

1. A method of autonomously detecting water bodies within a scene comprising:
capturing at least one 3D image of a scene using a sensor system configured to detect visible light and to measure distance from points within the scene to the sensor system; detecting candidate water within the scene using a processor configured to detect regions within each of the at least one 3D images that possess at least one characteristic indicative of the presence of water; filtering out false positives from the candidate water using the processor, where the false positives comprise a pixel of candidate water with a non-level slope value; and localizing the detected water using the processor, where the processor is further configured to aggregate water detections by:
aggregating at least one detected water body on an image;finding an elevation for each detected water body; andfusing each detected water body to a horizontal plane in a 3D reconstruction of the scene at the elevation.