SYSTEMS AND METHODS FOR 3D DATA BASED NAVIGATION USING A WATERSHED METHOD

摘要

Systems and methods for 3D data based navigation using a watershed method are provided. In at least one embodiment, a method for segmenting three-dimensional frames of data comprises acquiring at least one frame from at least one sensor, wherein the at least one frame provides a three-dimensional description of an environment containing the at least one sensor; and identifying a surface in the at least one frame. The method further comprises computing at least one residual map for the at least one frame based on the orthogonal distance from data points on the surface to at least one polynomial surface fitted to the surface; and segmenting the at least one residual map by performing a watershed algorithm on the residual map.

主权项

1. A system for segmenting sensor data, the system comprising:
at least one sensor configured to acquire at least one frame of data from an environment containing the at least one sensor, wherein the at least one frame provides a three-dimensional description of a portion of the environment; a processing unit configured to receive the at least one frame from the at least one sensor, wherein the processing unit is configured to segment the at least one frame by:
computing a residual map that is based on the distance between data points in the at least one frame and at least one polynomial surface fitted to at least one surface represented by the data in the at least one frame;identifying a plurality of minima in the residual map, wherein each minimum in the plurality of minima is associated with a different region in a plurality of regions;flooding the residual map at the plurality of minima;identifying boundaries for the plurality of regions, wherein the boundaries are at the locations where the flooding in adjacent regions first contact one another as the residual map is flooded; anddividing the residual map into a plurality of segments based on the identified boundaries.