Processing unordered point cloud

摘要

Described are methods and systems of processing three-dimensional (“3D”) data by generating an edge map, a depth map, or both. Data points are placed into a bin array based their respective image coordinates. The data points in each bin are processed to determine edge data. An edge map may be generated from this edge data. A bin value may be generated based on the data points in each bin, and a depth map generated using these bin values. The edge data and the edge map may be processed using one or more filter functions. Measurements based on the edge map may be provided at a resolution greater than that available with the depth map.

主权项

1. A system comprising:
a memory storing computer-executable instructions; and at least one processor configured to couple to a three-dimensional sensor device, access the memory, and execute the computer-executable instructions to:
access three-dimensional (“3D”) data comprising a plurality of data points, each data point of the plurality of data points comprising a two-dimensional (“2D”) image coordinate and a distance value;associate each data point of the plurality of data points, using the 2D image coordinate, with at least one bin of a plurality of non-overlapping bins, the plurality of non-overlapping bins forming a bin array of data points comprising the 2D image coordinate and the distance value for each data point;determine an edge threshold including a designation of one or more conditions used to determine a presence of an edge; andfor the bin of the plurality of non-overlapping bins:
obtain information about a first set of data points and information about a second set of data points, wherein each data point of the first set and each data point of the second set was associated with the bin of the plurality of non-overlapping bins;compare, using the edge threshold, the information about the first set of data points with the information about the second set of data points;determine, based at least in part on the comparison, edge segments from edge data, the edge segments indicative of a characterized edge associated with data points having the distance value exceeding the edge threshold by a predetermined amount;store the edge segments from the edge data, the edge segments indicative of the characterized edge in an edge characterization data table, the edge data including an edge identifier referring to an edge shape and an edge position within the bin; andgenerate an edge map using the characterized edge by applying a smoothing function to the edge data to join the edge segments in the plurality of non-overlapping bins to form a continuous edge across the plurality of non-overlapping bins based on the relative position of the plurality of non-overlapping bins in the bin array and the edge data.