Method of and arrangement for mapping range sensor data on image sensor data

摘要

Method of and arrangement for mapping first range sensor data from a first range sensor (3(1)) to image data from a camera (9(j)). The method includes: €¢ receiving time and position data from a position determination device on board a mobile system, as well as the first range sensor data from the first range sensor (3(1)) on board the mobile system and the image data from the camera (9(j)) on board the mobile system; €¢ identifying a first points cloud within the first range sensor data, relating to at least one object; €¢ producing a mask relating to the object based on the first points cloud; €¢ mapping the mask on object image data relating to the same object as present in the image data from the at least one camera (9(j)); €¢ performing a predetermined image processing technique on at least a portion of the object image data.