To provide a 3D surface reconfiguration with point cloud densification using artificial intelligence for autonomous systems and applications.SOLUTION: In various examples, a 3D surface structure, such as a 3D surface structure of a road (3D road surface), can be observed and estimated to generate a 3D point cloud or other representation of the 3D surface structure. Since the representation may have low-density, one or more densification techniques may be applied to densify the representation of the 3D surface structure. For example, a relationship between a low-density projection image (e.g., a 2D height map) and a high-density projection image can be modeled with a Markov random field such that a maximum posterior probability (MAP) estimate, given a low-density value, can be performed to estimate the most likely high-density value using corresponding joint probability distribution. A resulting high-density representation of the 3D surface structure can be provided to autonomous vehicle drive stacks to enable safe and comfortable planning and control of autonomous vehicles.SELECTED DRAWING: Figure 1

    【課題】自律システム及びアプリケーションのための人工知能を使用した点群高密度化を有する3D表面再構成を提供する。【解決手段】様々な実例で、道路の3D表面構造(3D路面)などの3D表面構造が、3D表面構造の3D点群又は他の表現を生成するために、観測及び推定され得る。表現は、低密度でもよいので、1つ又は複数の高密度化技法が、3D表面構造の表現を高密度化するために、適用され得る。たとえば、低密度投影画像(たとえば、2D高さマップ)と高密度投影画像との関係が、マルコフ確率場でモデル化され得、最大事後確率(MAP)推定が、低密度値を所与として、対応する結合確率分布を使用して最も可能性の高い高密度値を推定するために、実行され得る。3D表面構造の結果として生じる高密度表現は、自律型車両の安全で快適な計画立案及び制御を可能にするために、自律型車両ドライブ・スタックに提供され得る。【選択図】図1


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    Title :

    THREE-DIMENSIONAL SURFACE RECONFIGURATION WITH POINT CLOUD DENSIFICATION USING ARTIFICIAL INTELLIGENCE FOR AUTONOMOUS SYSTEMS AND APPLICATIONS


    Additional title:

    自律システム及びアプリケーションのための人工知能を使用した点群高密度化を有する3D表面再構成


    Contributors:
    WANG CAN (author) / WU YUE (author) / PARK MINWOO (author) / PAN GANG (author)

    Publication date :

    2023-05-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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





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    3D surface reconstruction with point cloud densification using deep neural networks for autonomous systems and applications

    WANG KANG / WU YUE / PARK MIN-WOO et al. | European Patent Office | 2023

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    Rauch, H. E. | British Library Online Contents | 1995