The invention relates to 3D surface reconstruction with point cloud densification using artificial intelligence for autonomous systems and applications. In various examples, a 3D surface structure, such as a 3D surface structure of a road (3D pavement), may be observed and estimated to generate a 3D point cloud or other representation of the 3D surface structure. Since the representation may be sparse, one or more densification techniques may be applied to densify the representation of the 3D surface structure. For example, the relationship between a sparse projection image and a dense projection image (e.g., a 2D height map) may be modeled with a Markov random field, and maximum posteriori (MAP) reasoning may be performed using corresponding joint probability distributions to estimate the most likely dense value given the value of sparse values. The resulting dense representation of the 3D surface structure may be provided to a driving stack of an autonomous vehicle to enable safe and comfortable planning and control of the autonomous vehicle.
本公开涉及用于自主系统和应用的使用人工智能利用点云致密化的3D表面重建。在各种示例中,可以观察和估计诸如道路的3D表面结构(3D路面)的3D表面结构以生成3D表面结构的3D点云或其他表示。由于表示可能是稀疏的,因此可以应用一种或更多种致密化技术来致密化3D表面结构的表示。例如,稀疏投影图像和密集投影图像(例如,2D高度图)之间的关系可以用马尔可夫随机场建模,并且可以使用相应的联合概率分布来执行最大后验(MAP)推理,以在给定稀疏值的值的情况下估计最可能的致密值。所得到的3D表面结构的致密表示可以提供给自主车辆的驾驶堆栈,以实现对自主车辆的安全和舒适的规划和控制。
3D surface reconstruction with point cloud densification using artificial intelligence for autonomous systems and applications
用于自主系统和应用的使用人工智能利用点云致密化的3D表面重建
2023-05-02
Patent
Elektronische Ressource
Chinesisch
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
Europäisches Patentamt | 2023
|Europäisches Patentamt | 2023
|Europäisches Patentamt | 2023
|Europäisches Patentamt | 2023
|Autonomous Systems and Artificial Intelligence at JPL
NTRS | 2019
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