IPC분류정보
| 국가/구분 |
United States(US) Patent
등록
|
| 국제특허분류(IPC7판) |
|
| 출원번호 |
US-0795779
(2004-03-08)
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| 등록번호 |
US-8958654
(2015-02-17)
|
|
발명자
/ 주소 |
- Evans, Bruno J.
- Tener, Gene D.
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| 출원인 / 주소 |
- Lockheed Martin Corporation
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| 대리인 / 주소 |
Withrow & Terranova, PLLC
|
| 인용정보 |
피인용 횟수 :
5 인용 특허 :
63 |
초록
▼
A method and apparatus for enhancing the resolution of three-dimensional imagery data are disclosed. The method includes registering a frame of the three-dimensional imagery data with a template frame; and temporally averaging the registered frame with the template frame. The apparatus includes a pr
A method and apparatus for enhancing the resolution of three-dimensional imagery data are disclosed. The method includes registering a frame of the three-dimensional imagery data with a template frame; and temporally averaging the registered frame with the template frame. The apparatus includes a program storage medium encoded with instructions that, when executed by a computing apparatus, performs the method and an apparatus programmed to perform the method.
대표청구항
▼
1. A computer-implemented method, comprising: accessing a set of three-dimensional imagery data; andprocessing the three-dimensional imagery data to enhance its spatial resolution including: registering a first frame of the three-dimensional imagery data with a first template frame to create a regis
1. A computer-implemented method, comprising: accessing a set of three-dimensional imagery data; andprocessing the three-dimensional imagery data to enhance its spatial resolution including: registering a first frame of the three-dimensional imagery data with a first template frame to create a registered first frame;temporally filtering the registered first frame with the first template frame;registering a second frame of two-dimensional imagery data corresponding to the first frame of the three-dimensional imagery data with a second template frame of the two-dimensional imagery data corresponding to the first template frame to create a registered second frame; andtemporally filtering the registered second frame of the two-dimensional imagery data with the second template frame of the two-dimensional imagery data;wherein the accessing and the processing are performed by a computing apparatus. 2. The computer-implemented method of claim 1, wherein registering the first frame of the three-dimensional imagery data includes: correlating the first frame of the three-dimensional imagery data to the first template frame to create a correlated frame; andperforming a three-dimensional interpolation on the correlated frame. 3. The computer-implemented method of claim 2, further comprising sampling the correlated frame. 4. The computer-implemented method of claim 1, wherein processing the three-dimensional imagery data further includes at least one of: spatially filtering the first frame of the three-dimensional imagery data prior to registration;updating the first template frame;replacing the first template frame; andspatially filtering the temporally filtered frame created by temporally filtering the registered first frame with the first template frame. 5. A non-transitory program storage medium encoded with instructions that, when executed by a computing apparatus, perform a method comprising: accessing a set of three-dimensional imagery data; andprocessing the three-dimensional imagery data to enhance its spatial resolution including: registering a first frame of the three-dimensional imagery data with a first template frame to create a registered first frame;temporally filtering the registered first frame with the first template frame;registering a second frame of two-dimensional imagery data corresponding to the first frame of the three-dimensional imagery data with a second template frame of the two-dimensional imagery data corresponding to the first template frame to create a registered second frame; andtemporally filtering the registered second frame of the two-dimensional imagery data with the second template frame of the two-dimensional imagery data;wherein the accessing and the processing are performed by the computing apparatus. 6. The non-transitory program storage medium of claim 5, wherein registering the first frame of the three-dimensional imagery data in the encoded method includes: correlating the first frame of the three-dimensional imagery data to the first template frame to create a correlated frame; andperforming a three-dimensional interpolation on the correlated frame. 7. The non-transitory program storage medium of claim 6, wherein processing the three-dimensional imagery data in the encoded method further includes sampling the correlated frame. 8. The non-transitory program storage medium of claim 5, wherein processing the three-dimensional imagery data in the encoded method further includes at least one of: spatially filtering the first frame of the three-dimensional imagery data prior to registration;updating the first template frame;replacing the first template frame; andspatially filtering the temporally filtered frame created by temporally filtering the registered first frame with the first template frame. 9. An apparatus, comprising: a processor;an electronic storage from which the processor may read;a set of three-dimensional imagery data residing in the electronic storage; andan application residing in the electronic storage and performing, when executed by the processor, a method comprising: accessing the set of three-dimensional imagery data; andprocessing the three-dimensional imagery data to enhance its spatial resolution including: registering a first frame of the three-dimensional imagery data with a first template frame to create a registered first frame;temporally filtering the registered first frame with the first template frame;registering a second frame of two-dimensional imagery data corresponding to the first frame of the three-dimensional imagery data with a second template frame of the two-dimensional imagery data corresponding to the first template frame to create a registered second frame; andtemporally filtering the registered second frame of the two-dimensional imagery data with the second template frame of the two-dimensional imagery data. 10. The apparatus of claim 9, wherein registering the first frame of the three-dimensional imagery data in the method includes: correlating the first frame of the three-dimensional imagery data to the first template frame to create a correlated frame; andperforming a three-dimensional interpolation on the correlated frame. 11. The apparatus of claim 10, wherein processing the three-dimensional imagery data in the method further includes sampling the correlated frame. 12. The apparatus of claim 9, wherein processing the three-dimensional imagery data in the method further includes at least one of: spatially filtering the first frame of the set of three-dimensional imagery data prior to registration;updating the first template frame;replacing the first template frame; andspatially filtering the temporally filtered frame created by temporally filtering the registered first frame with the first template frame. 13. An apparatus, comprising: a data acquisition subsystem, comprising a processor, capable of acquiring a set of three-dimensional imagery data; anda data processing subsystem, comprising the processor, programmed to: access the set of three-dimensional imagery data; andprocess the three-dimensional imagery data to enhance its spatial resolution including to: register a first frame of the three-dimensional imagery data with a first template frame to create a registered first frame;temporally filter the registered first frame with the first template frame;register a second frame of two-dimensional imagery data corresponding to the first frame of the three-dimensional imagery data with a second template frame of the two-dimensional imagery data corresponding to the first template frame to create a registered second frame; andtemporally filter the registered second frame of the two-dimensional imagery data with the second template frame of the two-dimensional imagery data. 14. The apparatus of claim 13, wherein the data acquisition subsystem includes: a laser capable of emitting optical radiation; anda detector subsystem capable of receiving the emitted optical radiation upon its reflection. 15. The apparatus of claim 13, wherein three-dimensional imagery data is LADAR data or stereo imaging data. 16. The apparatus of claim 13, wherein registering the first frame of the three-dimensional imagery data includes: correlating the first frame of the three-dimensional imagery data to the first template frame to create a correlated frame; andperforming a three-dimensional interpolation on the correlated frame. 17. The apparatus of claim 13, wherein the data processing subsystem is further capable of tracking an object in a field of view for the data acquisition subsystem. 18. The apparatus of claim 13, wherein the data processing subsystem is further capable of: converting the first frame of the three-dimensional imagery data to Cartesian coordinates to create a converted frame; andcapturing the converted frame. 19. The apparatus of claim 13, wherein the data processing subsystem is further capable of: spatially filtering the first frame of the three-dimensional imagery data prior to registration;updating the first template frame;replacing the first template frame; andspatially filtering the temporally filtered frame created by temporally filtering the registered first frame with the first template frame. 20. The apparatus of claim 13, wherein the apparatus comprises a portion of an airborne platform. 21. The apparatus of claim 13, wherein the data acquisition subsystem comprises a portion of a platform and the data processing subsystem is located remotely from the platform. 22. The apparatus of claim 13, further comprising a display. 23. A computer-implemented method, comprising: accessing a set of three-dimensional imagery data; andprocessing the three-dimensional imagery data to enhance its spatial resolution including: registering a frame of the three-dimensional imagery data with a template frame to create a registered first frame including: correlating an intensity image of a new frame of LADAR data to an intensity image of the template frame; andcorrelating a three-dimensional image of the new frame to a three-dimensional image of the template frame;temporally filtering the registered first frame with the template frame;wherein the accessing and the processing are performed by a computing apparatus. 24. A computer-implemented method for enhancing LADAR data resolution, comprising: correlating an intensity image of a new frame of laser detection and ranging (LADAR) data to an intensity image of a template frame;correlating a three-dimensional image of the new frame to a three-dimensional image of the template frame to create a correlated three-dimensional image;performing a sub-voxel interpolation on the correlated three-dimensional image;registering the new frame with the template frame subsequent to correlation and interpolation; andtemporally filtering the registered new frame with the template frame;wherein the correlating, the interpolating, the registration, and the temporal filtering are performed by a processor. 25. The computer-implemented method of claim 24, wherein correlating the intensity image of the new frame to the intensity image of the template frame includes: subtracting the intensity image of the template frame from the intensity image of the new frame in a point wise fashion; andoutputting a shift vector. 26. The computer-implemented method of claim 24, wherein registering the new frame with the template frame includes performing a sub-pixel interpolation on a predetermined region around a center pixel of a target in the intensity image of the new frame to locate a true centroid. 27. The computer-implemented method of claim 26, wherein the predetermined region is a 5×5 pixel region. 28. The computer-implemented method of claim 24, further comprising re-sampling at least one of the new frame and the template frame. 29. The computer-implemented method of claim 24, further comprising acquiring three-dimensional imagery data. 30. The computer-implemented method of claim 29, wherein acquiring the three-dimensional imagery data includes: detecting a signal whose characteristics are represented by the three-dimensional imagery data;capturing the three-dimensional imagery data; andstoring the three-dimensional imagery data. 31. The computer-implemented method of claim 24, further comprising further enhancing the resolution of the temporally filtered frame for display. 32. The computer-implemented method of claim 24, further comprising displaying the temporally filtered frame.
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