US 11,727,601 B2
Overhead view image generation
Clemens Marschner, Munich (DE); Thomas Schiwietz, Munich (DE); Wilhelm Richert, Feldkirchen (DE); Nikolai Morin, Munich (DE); and Holger Rapp, Munich (DE)
Assigned to Woven Planet North America, Inc., Los Altos, CA (US)
Filed by Woven Planet North America, Inc., Los Altos, CA (US)
Filed on Mar. 29, 2021, as Appl. No. 17/215,733.
Application 17/215,733 is a continuation of application No. 16/731,902, filed on Dec. 31, 2019, granted, now 11,037,328, issued on Jun. 15, 2021.
Prior Publication US 2022/0020177 A1, Jan. 20, 2022
Int. Cl. G06T 7/90 (2017.01); G06T 7/73 (2017.01)
CPC G06T 7/90 (2017.01) [G06T 7/74 (2017.01); G06T 2207/10024 (2013.01); G06T 2207/20021 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for generating an overhead view image of a geographical area, the method comprising;
receiving a plurality of images of the geographical area that are captured over trajectories through the geographical area at ground level;
determining a ground map of the geographical area;
dividing the ground map into a plurality of sampling points of the geographical area; and
determining a color for each of the plurality of sampling points by determining a correlation between the sampling points of the geographical area and a color of the sampling points captured in at least one of the plurality of images, including determining a camera view ray in relation to each of the sampling points and the plurality of images to identify corresponding pixels between the plurality of images and the sampling points, wherein the plurality of images are collected over separate trajectories of different vehicles through the geographical area.