A METHOD OF GENERATING A THREE DIMENSIONAL REPRESENTATION OF AN ENVIRONMENT OR SYSTEM

摘要

A method of generating a three-dimensional (3D) representation of an environment or system, wherein the method comprises the following steps, i) obtaining a plurality of sets of range-data each providing range-data to features within at least a portion of the environment or system; ii) processing the plurality of sets of range-data to fuse the data and generate a set voxels holding data to represent the 3D environment or system; ii) identifying one or more subsets of the set of voxels;and iii) applying a regularisation process to at least one of the one or more subsets to modify the data held by at least some of the voxels in the one or more subsets wherein the set of voxels provides the 3D representation of the environment.