公开(公告)号：US11270501B2

公开(公告)日：2022-03-08

申请号：US17049312

申请日：2019-04-30

Applicant: Commonwealth Scientific and Industrial Research Organisation

Inventor： Pavel Vechersky ,  Mark Cox ,  Paulo Borges ,  Thomas Lowe ,  Michael Bosse

IPC: G06T17/05 ,  G06T7/80 ,  G06T7/20 ,  G06T19/20

Abstract: A method for use in colourising a three-dimensional (3D) point cloud of an environment, the method including determining timing information indicative of a time of capture of a frame; identifying at least some 3D points of the point cloud in the frame based on the position of the camera and determining a local point cloud that captures a scene in the immediate vicinity of the camera, wherein a visibility check is performed on the local point cloud to determine points in the local point cloud that are visible from the perspective of the camera for a given frame; and determining a candidate colour for the at least some of the 3D points using a colour of a corresponding pixel in the frame extracted from the video data; and, assigning a colour to one or more points of the 3D point cloud using candidate colours obtained from multiple frames.

公开(公告)号：US11967023B2

公开(公告)日：2024-04-23

申请号：US17576771

申请日：2022-01-14

Applicant: Commonwealth Scientific and Industrial Research Organisation

Inventor： Pavel Vechersky ,  Mark Cox ,  Paulo Borges ,  Thomas Lowe ,  Michael Bosse

IPC: G06T17/05 ,  G06T7/20 ,  G06T7/80 ,  G06T19/20

CPC classification number: G06T17/05 ,  G06T7/20 ,  G06T7/80 ,  G06T19/20 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/30241 ,  G06T2219/2012

Abstract: A method for use in colourising a three-dimensional (3D) point cloud of an environment, the method including determining timing information indicative of a time of capture of a frame; identifying at least some 3D points of the point cloud in the frame based on the position of the camera and determining a local point cloud that captures a scene in the immediate vicinity of the camera, wherein a visibility check is performed on the local point cloud to determine points in the local point cloud that are visible from the perspective of the camera for a given frame; and determining a candidate colour for the at least some of the 3D points using a colour of a corresponding pixel in the frame extracted from the video data; and, assigning a colour to one or more points of the 3D point cloud using candidate colours obtained from multiple frames.

公开(公告)号：US20220139033A1

公开(公告)日：2022-05-05

申请号：US17576771

申请日：2022-01-14

Applicant: Commonwealth Scientific and Industrial Research Organisation

Inventor： Pavel Vechersky ,  Mark Cox ,  Paulo Borges ,  Thomas Lowe ,  Michael Bosse

IPC: G06T17/05 ,  G06T7/80 ,  G06T7/20 ,  G06T19/20

Abstract: A method for use in colourising a three-dimensional (3D) point cloud of an environment, the method including determining timing information indicative of a time of capture of a frame; identifying at least some 3D points of the point cloud in the frame based on the position of the camera and determining a local point cloud that captures a scene in the immediate vicinity of the camera, wherein a visibility check is performed on the local point cloud to determine points in the local point cloud that are visible from the perspective of the camera for a given frame; and determining a candidate colour for the at least some of the 3D points using a colour of a corresponding pixel in the frame extracted from the video data; and, assigning a colour to one or more points of the 3D point cloud using candidate colours obtained from multiple frames.

公开(公告)号：US11852501B2

公开(公告)日：2023-12-26

申请号：US17911508

申请日：2021-03-18

Applicant: COMMONWEALTH SCIENTIFIC AND INDUSTRIAL RESEARCH ORGANISATION

Inventor： Paulo Borges ,  Thomas Lowe ,  Tirthankar Bandyopadhyay ,  Riley Bowyer

IPC: G01C21/36 ,  B60W60/00 ,  G01C21/00 ,  G06T11/00

CPC classification number: G01C21/367 ,  B60W60/001 ,  G01C21/3822 ,  G01C21/3841 ,  G06T11/001 ,  B60W2555/00

Abstract: A system for generating a costmap for use in planning a path through an environment, the system including one or more suitably programmed processing devices configured to obtain a map of the environment, acquire traversal data indicative of an ability to traverse parts of the environment, for each part of the environment, calculate a traversal indicator indicative of the ability to traverse the part, the traversal indicator being calculated in a colour space, and colourise the map using the traversal indicators to thereby generate a colourised costmap indicative of an ability to traverse the environment, the colourised costmap allowing path planning to be performed.

公开(公告)号：US10586385B2

公开(公告)日：2020-03-10

申请号：US15555123

申请日：2016-03-04

Applicant: Commonwealth Scientific and Industrial Research Organisation

Inventor： Peyman Moghadam ,  Thomas Lowe

IPC: G06T17/00 ,  G06T17/05 ,  G06K9/00 ,  G01S7/48 ,  G01S17/89 ,  G06T17/10 ,  G01S17/02 ,  G06T19/20 ,  G01S17/42

Abstract: A system for generating a three-dimensional geometric model of a structure, the system including a portable sensing device that can be transported through the structure, wherein the sensing device includes one or more sensors that generate sensor data at least partially indicative of a position of the sensing device relative to at least part of the structure and at least one electronic processing device that determines a captured map of at least part of the structure using the sensor data, determines at least part of a path traversed by the sensing device using the sensor data, identifies one or more model features using the part of the path and the captured map and generates a three-dimensional geometric model of the structure using the model features.