Patent application EP20181777A (EP), filed 2020-06-23
Publication number: EP3757606A2
Title: DENSE MAPPING USING RANGE SENSOR MULTI-SCANNING AND MULTI-VIEW GEOMETRY FROM SUCCESSIVE IMAGE FRAMES
Abstract: [0001]    In some examples, a system includes a range sensor configured to receive signals reflected from objects in an environment and generate two or more successive scans of the environment at different times. The system also includes a camera configured to capture two or more successive camera images of the environment, wherein each of the two or more successive camera images of the environment is captured by the camera at a different location within the environment. The system further includes processing circuitry configured to generate a three-dimensional map of the environment based on the two or more successive scans and the two or more successive camera images.
IPC codes: G01S  13/    08            A I
G01S  13/    72            A I
G01S  13/    86            A I
G01S  13/    89            A I
G01S  17/    86            A I
Claims: number: 1
text: A system comprising:
number: 2
text: The system of claim 1, wherein the processing circuitry is further configured to match points in the two or more successive scans to points in the two or more successive camera images,
wherein the processing circuitry is configured to generate the three-dimensional map of the environment at least in part by:
number: 3
text: The system of claim 2, wherein the processing circuitry is further configured to estimate a depth of a second object in the environment based on the two or more successive scans and the two or more successive camera images,
wherein the processing circuitry is configured to generate the three-dimensional map of the environment based on the depth of the first object and the depth of the second object.
number: 4
text: The system of claim 1, wherein the processing circuitry is further configured to:
number: 5
text: The system of claim 1, wherein the range sensor comprises a radar sensor configured to transmit radar signals and receive the signals reflected from the objects in the environment.
number: 6
text: The system of claim 1, wherein the processing circuitry is further configured to perform simultaneous location and mapping based on the two or more successive camera images using the two or more successive scans as a depth constraint.
number: 7
text: The system of claim 1, wherein the processing circuitry is further configured to:
number: 8
text: The system of claim 1, wherein the processing circuitry is further configured to:
number: 9
text: The system of claim 8, wherein the processing circuitry is configured to determine the pixel-wise uncertainty for the spatial cost volume based on a rotational movement of the camera and a translational movement of the camera.
number: 10
text: A method comprising:
number: 11
text: The method of claim 10, further comprising:
number: 12
text: The method of claim 10, further comprising:
number: 13
text: The method of claim 10, further comprising performing simultaneous location and mapping based on the two or more successive camera images using the two or more successive scans as a depth constraint.
number: 14
text: The method of claim 10, further comprising:
number: 15
text: The method of claim 10, further comprising:
Office action: search_report, dated 2020-12-30
Rejection reasons: novelty_epc_54
Prior art cited: ref_id: US2018246200A1
ref_type: patent
severity: background
ref_id: US2019113610A1
ref_type: patent
severity: background
ref_id: US201816169879A
ref_type: patent
severity: background
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ref_type: npl
severity: background
ref_id: US2018204338A1
ref_type: patent
severity: background
ref_id: US2016070265
ref_type: patent
severity: novelty_destroying
ref_id: US2017019658
ref_type: patent
severity: background
ref_id: US2018232947
ref_type: patent
severity: novelty_destroying
ref_id: US2018356526
ref_type: patent
severity: background
Final disposition: pending (2020-12-30)