Point cloud visualization using bi-modal color schemes based on 4D lidar datasets

摘要

A system is provided for alerting a crew in an airborne platform. The system includes a module for receiving point cloud data from a LIDAR system, including range data between the LIDAR system and multiple points in the point cloud. The system also includes a module for placing the multiple points into first and second zones, wherein the first zone has range data of points in the point cloud located within a first distance from the airborne platform, and the second zone has range data of points located further than the first distance. The first distance is predetermined by an operational environment of the airborne platform. The system further includes a color module for coloring the points in the first zone with a first color composition and coloring the points in the second zone with a second color composition. A color display is provided for displaying the colored points in the first and second zones.

主权项

1. A method of real-time point cloud visualization on a color display of a piloted aircraft to provide situational awareness to pilots flying under obscured condition, comprising the steps of:
receiving point cloud data from a LIDAR, including range data of vertical obstructions between a piloted aircraft and multiple points in the point cloud indicating vertical obstructions with respect to the piloted aircraft; dividing the multiple points into a plurality of zones, each zone including points indicating positions of the vertical obstructions within a respective interval of range away from the piloted aircraft; determining an index vector for each zone of the plurality of zones using an altitude value for the piloted aircraft; coloring the multiple points in each zone using a plurality of colors defined by the index vector; indicating a range of the vertical obstructions from the piloted aircraft by displaying, on the color display device of the piloted aircraft, the multiple points indicating positions of the vertical obstructions in each zone with the plurality of colors with reference to the piloted aircraft; calculating a derivative of the index vector as a function of range; and changing the color between points, if the derivative is not continuous between the points.