Patent Document ID: 9754165
Application ID: 13953757
Patent Status: 1

Claim One:
1. A method for registration of two and three-dimensional (3-D) images, the method comprising: capturing a 2-dimensional (2-D) image comprising 2-D image points of a geographical region by a camera attached to a first vehicle; transforming the 2-dimensional (2-D) image of the geographical region via a regional maxima transform or an edge segmenting and boundary filling (ESBF) transform to produce a filtered 2-D image; iteratively eroding and opening the filtered 2-D image to produce a processed electro-optical (EO) 2-D image; extracting 2-D object shape morphology from the processed EO 2-D image; extracting 2-D shape properties from the 2-D object shape morphology; scanning the geographical region by a Light Detection and Ranging (LIDAR) system attached to a second vehicle to produce a 3-dimensional point cloud comprising 3-D cloud image points thereof; generating a height slice of the 3-dimensional point cloud comprising 3-D coordinate and intensity measurements of the geographical region; extracting slice object shape morphology from the height slice resulting in labeled shapes found in the 2-D slice image; extracting slice shape properties from the slice object shape morphology; constellation matching the 2-D image to the height slice based on the 2-D shape properties and the slice shape properties; determining matching points between the 2-D image points and the 3-D cloud image points; estimating a pose position of the camera attached to the first vehicle based on the matching points to provide an estimated pose position; determining a geo-location of the first vehicle based on the estimated pose position of the camera attached to the first vehicle; and based on the matching points, generating a colorized 3-dimensional point cloud wherein at least some of the 3-D cloud image points of the 3-dimensional point cloud are given a color of an object taken from the 2-D image.