Systems and methods for digital elevation map filters for three dimensional point clouds
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G06T-007/00
G06T-017/05
G06T-015/60
G06T-005/00
출원번호
US-0195198
(2016-06-28)
등록번호
US-10055885
(2018-08-21)
발명자
/ 주소
Goodman, Vernon R.
출원인 / 주소
Raytheon Company
대리인 / 주소
Schwegman Lundberg & Woessner, P.A.
인용정보
피인용 횟수 :
0인용 특허 :
4
초록▼
Discussed herein are systems, devices, and methods for filtering digital elevation map (DEM) data. A method can include ingesting digital elevation map (DEM) data and intensity data from a panchromatic (PAN) or multi-spectral (MS) image, filling in voids in the ingested DEM data using local interpol
Discussed herein are systems, devices, and methods for filtering digital elevation map (DEM) data. A method can include ingesting digital elevation map (DEM) data and intensity data from a panchromatic (PAN) or multi-spectral (MS) image, filling in voids in the ingested DEM data using local interpolation to create interpolated DEM data, creating a shadow map based on the received intensity data, modifying, using the created shadow map, a height of one or more pixels in the interpolated DEM data to create a modified DEM file, and storing the modified DEM file in a memory.
대표청구항▼
1. A non-transitory machine-readable storage device including instructions stored thereon that, when executed by one or more processors, cause the one or more processors to perform operations for filtering digital elevation map (DEM) data of a three dimensional point cloud, the operations comprising
1. A non-transitory machine-readable storage device including instructions stored thereon that, when executed by one or more processors, cause the one or more processors to perform operations for filtering digital elevation map (DEM) data of a three dimensional point cloud, the operations comprising: ingest digital elevation map (DEM) data and intensity data from a panchromatic WAN) or multi-spectral (MS) image;fill in voids in the DEM data using local interpolation to create interpolated DEM data;create a shadow map based on the received intensity data;modify, using the shadow map, a height of one or more pixels in the interpolated DEM data to create a modified DEM file including determine if a pixel in the PAN or MS image data corresponds to a shadow pixel as defined by the shadow map and wherein modification of the height of one or more pixels in the ingested DEM data includes, in response to a determination that the pixel corresponds to a shadow pixel: determine a number of pixels around the pixel corresponding to the shadow,determine a minimum height of all the pixels in the number of pixels around the pixel corresponding to the shadow based on height data in the interpolated DEM data,determine a central value of heights of pixels in the number of pixels around the pixel corresponding to the shadow determined to be less than (pr equal to) the determined minimum height plus an offset, andset a height of the pixel in the interpolated DEM data to the determined central value; andstore, in a memory, the modified DEM file. 2. The storage device of claim 1, further comprising instructions stored thereon that, when executed by the one or more processors, cause the one or more processors to further create an edge map based on the received intensity data and wherein modification of the height of one or more pixels in the modified DEM file includes further modification of the height of one or more pixels in the modified DEM file based on the created edge map. 3. The storage device of claim 2, further comprising instructions stored thereon that, when executed by the one or more processors, cause the one or more processors to further create a foliage map and wherein modification of the height of one or more pixels in the modified DEM data includes further modification of the height based on the created foliage map. 4. The storage device of claim 3, wherein the instructions to fill in voids of the DEM data include instructions that, when executed by the one or more processors, cause the one or more processors to: determine whether a pixel in the DEM data includes a corresponding height that is not a number (NaN),determine whether there are more than a threshold number of pixels in a specified area of pixels around the pixel determined to include a corresponding height that is NaN,in response to a determination that there are more than a threshold number of pixels in a specified area of pixels around the pixel determined to include a corresponding height that is NaN, determine a central value of heights of pixels, around the pixel including the corresponding height that is NaN, that are within the specified area; andreplace the height value of the pixel determined to include the corresponding height that is NaN with the determined central value. 5. The storage device of claim 4, wherein the instructions to create the edge map include instructions that, when executed by the one or more processors, cause the one or more processors to: compute a steepest intensity change at each pixel in the intensity data as respective entries in a slope map,create a histogram of the computed steepest intensity changes in the slope map,determine a slope threshold that accepts a specified number of pixels as edges, andset respective entries in the edge map in accord with whether a corresponding entry in the slope map includes a value greater than (or equal to) the determined threshold to a first specified value and set all other pixels to a second, different specified value to create the edge map. 6. The storage device of claim 4, wherein the instructions to create the shadow map include instructions that, when executed by the one or more processors, cause the one or more processors to: determine a maximum intensity of pixels in the PAN (or MS) image data,set a shadow threshold to a shadow ratio times the determined maximum intensity, andfor each pixel in the PAN (or MS) image data that is less than (or equal to) the shadow threshold, set a corresponding entry in the shadow map to a specified value and setting all other entries in the shadow map to a different specified value. 7. The storage device of claim 6, further comprising instructions stored thereon that, when executed by the one or more processors, cause the one or more processors to further: determine if a pixel in the PAN or MS image data corresponds to a foliage pixel as defined by the foliage map, and in response to determining the pixel corresponds to a foliage pixel, correction of the height of one or more pixels in the interpolated DEM data includes:determine a central value of heights of a specified number of pixels in a neighborhood of the foliage pixel that are determined to be foliage pixels, andset the height of the foliage pixel to the determined central value. 8. The storage device of claim 7, further comprising instructions stored thereon that, when executed by the one or more processors, cause the one or more processors to further: determine if a pixel in the PAN or MS image data corresponds to an edge pixel as defined by the edge map, and in response to determining the pixel corresponds to an edge pixel, correction of the height of one or more pixels in the interpolated DEM data includes:determine a central value of heights of a specified number of pixels in a neighborhood of the edge pixel that are determined to be edge pixels, andsetting the height of the edge pixel in the modified DEM data to the determined central value. 9. The storage device of claim 8, further comprising instructions stored thereon that, when executed by the one or more processors, cause the one or more processors to further: determine if a pixel in the PAN or MS image does not correspond to any of a shadow pixel, an edge pixel, and a foliage pixel and, in response to determining the pixel does not correspond to any of a shadow pixel, an edge pixel, and a foliage pixel correction of the height of one or more pixels in the interpolated DEM data includes:compute a histogram of height values of non-edge pixels in a neighborhood of the non-shadow, non-edge, and non-foliage pixel,determine a central value of heights of pixels in a bin of the histogram that includes the most pixels of all the bins, andreplace the height value of the corresponding pixel in the modified DEM data with the determined central value. 10. A method for filtering digital elevation map (DEM) data, the operations comprising: ingesting digital elevation map (DEM) data and intensity data from a panchromatic (PAN) or multi-spectral (MS) image;filling in voids in the ingested DEM data using local interpolation to create interpolated DEM data;creating a shadow map based on the received intensity data;modifying, using the created shadow map, a height of one or more pixels in the interpolated DEM data to create modified DEM data including determining if a pixel in the PAN or MS image data corresponds to a shadow pixel as defined by the shadow map, and wherein modification of the height of one or more pixels in the ingested DEM data includes, in response to a determination that the pixel corresponds to a shadow pixel: determining a number of pixels around the pixel corresponding to the shadow,determining a minimum height of all the pixels in the number of pixels around the pixel corresponding to the shadow based on height data in the interpolated DEM data,determining a central value of heights of pixels in the number of pixels around the pixel corresponding to the shadow determined to be less than (or equal to) the determined minimum height plus an offset, andsetting a height of the pixel in the interpolated DEM data to the determined central value; andproviding signals to a display that cause an image to be displayed based on the modified DEM data. 11. The method of claim 10, further comprising creating an edge map based on the received intensity data and wherein modifying the height of one or more pixels in the modified DEM file includes further modifying the height of one or more pixels in the modified DEM file based on the created edge map. 12. The method of claim 11, further comprising creating a foliage map and wherein modifying the height of one or more pixels in the modified DEM file includes further modifying the height based on the created foliage map. 13. The method of claim 12, wherein filling in voids of the ingested DIEM data includes: determining whether a pixel in the DEM data includes a corresponding height that is not a number (NaN),determining whether there are more than a threshold number of pixels in a specified area of pixels around the pixel determined to include a corresponding height that is NaN,in response to a determination that there are more than a threshold number of pixels in a specified area of pixels around the pixel determined to include a corresponding height that is NaN, determining a central value of heights of pixels, around the pixel including the corresponding height that is NaN, that are within the specified area; andreplacing the height value of the pixel determined to include the corresponding height that is NaN with the determined central value. 14. The method of claim 13, wherein creating the edge map includes: computing a steepest intensity change at each pixel in the intensity data as respective entries in a slope map,creating a histogram of the computed steepest intensity changes in the slope map,determining a slope threshold that accepts a specified number of pixels as edges, andsetting respective entries in the edge map in accord with whether a corresponding entry in the slope map includes a value greater than (or equal to) the determined threshold to a first specified value and set all other pixels to a second, different specified value to create the edge map. 15. A system for filtering digital elevation map (DE) data, the system comprising: an ingest processor to ingest digital elevation map (DEM) data and intensity data from a panchromatic (PAN) or multi-spectral (MS) image;a local interpolation processor to fill in voids in the ingested DEM data using local interpolation to create interpolated DEM data;a shadow map processor to create a shadow map based on the received intensity data;a height correction processor to: determine if a pixel in the PAN or MS image data corresponds to a shadow pixel as defined by the shadow map, and wherein modification of the height of one or more pixels in the ingested DEM data includes, in response to a determination that the pixel corresponds to a shadow pixel: determine a number of pixels around the pixel corresponding to the shadow,determine a minimum height of all the pixels in the number of pixels around the pixel corresponding to the shadow based on height data in the interpolated DEM data,determine a central value of heights of pixels in the number of pixels around the pixel corresponding to the shadow determined to be less than (or equal to) the determined minimum height plus an offset, andset a height of the pixel in the interpolated DEM data to the determined central value to create modified DEM data; anda memory to store the modified DEM data. 16. The system of claim 15, wherein the height correction processor is further to: determine if a pixel in the PAN or MS image data corresponds to a foliage pixel as defined by the foliage map, and wherein modification of the height of one or more pixels in the interpolated DEM data includes, in response to a determination that the pixel corresponds to a foliage pixel:determine a central value of heights of a specified number of pixels in a neighborhood of the foliage pixel that are determined to be foliage pixels, andset the height of the foliage pixel to the determined central value. 17. The system of claim 16, wherein the height correction processor is further to: determine if a pixel in the PAN or MS image data corresponds to an edge pixel as defined by the edge map, and wherein modification of the height of one or more pixels in the interpolated DEM data includes, in response to a determination that the pixel corresponds to an edge pixel:determine a central value of heights of a specified number of pixels in a neighborhood of the edge pixel that are determined to be edge pixels, andsetting the height of the edge pixel in the modified DEM data to the determined central value. 18. The system of claim 17, wherein the height correction processor is further to: determine if a pixel in the PAN or MS image does not correspond to any of a shadow pixel, an edge pixel, and a foliage pixel and, in response to determining the pixel does not correspond to any of a shadow pixel, an edge pixel, and a foliage pixel modification of the height of one or more pixels in the interpolated DEM data includes:compute a histogram of height values of non-edge pixels in a neighborhood of the non-shadow, non-edge, and non-foliage pixel,determine a central value of heights of pixels in a bin of the histogram that includes the most pixels of all the bins, andreplace the height value of the corresponding pixel in the modified DEM data with the determined central value.
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