Patent ID: 11954835
Assignee: TANWAY TECHNOLOGY (BEIJING) CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC G  Y | IPC G

Claim 7:
8. An image fusion apparatus based on image and LiDAR point cloud, comprising:
an acquisition module configured to acquire a first image and sparse point cloud data, point cloud data comprised in each channel of the sparse point cloud data corresponding to pixels comprised in the first image respectively, and the sparse point cloud data and the first image having space and time synchronicity;
a target gradient value obtaining module configured to obtain a target gradient value corresponding to at least one target pixel comprised in the first image according to the first image, the target pixel being a non-edge pixel of the first image;
a dense point cloud data obtaining module configured to up-sample the sparse point cloud data based on at least one target gradient value to obtain dense point cloud data, the target gradient value being determined according to a corresponding target pixel between adjacent channels of the sparse point cloud data; and
a target fusion image obtaining module configured to obtain a target fusion image based on the first image and the dense point cloud data.