Patent ID: 9224368
Filing Date: 2015-12-29
Classification: G01S,G06T,G09G

Abstract:
1. A computer-implemented method for constructing a merged three-dimensional model, comprising: determining, with one or more processing devices, a first distance value for each of a plurality of voxels in an extended margin, the first distance value determined based at least in part on a range sensor-based model constructed from range sensor data, the extended margin extending between the range sensor-based model and a range sensor viewpoint associated with the range sensor-based model; determining, with the one or more processing devices, a second distance value for each of the plurality of voxels in the extended margin and for a plurality of voxels within a threshold distance of a camera viewpoint, the second distance value being determined based at least in part upon a camera-based model constructed from imagery captured by a camera; determining, with the one or more processing devices, a cumulative distance value for each of the plurality of voxels in the extended margin, the cumulative distance value for a respective voxel in the plurality of voxels being determined based at least in part on the first distance value associated with the respective voxel and the second distance value associated with the respective voxel; and constructing, with the one or more processing devices, a merged three-dimensional model based at least in part on the cumulative distance value for each of the plurality of voxels such that gaps in the range sensor-model are filled at least in part by the camera-based model; wherein the cumulative distance value for the respective voxel is determined based at least in part on a first confidence weight associated with the first distance value for the respective voxel and a second confidence weight associated with the second distance value for the respective voxel, the first confidence weight being greater than the second confidence weight, wherein the first confidence weight is determined based at least in part on a distance from the respective voxel to the range sensor viewpoint.