US 12,437,357 B2
Systems and methods to perform 3D localization of target objects in point cloud data using a corresponding 2D image
Adrian Mai, San Diego, CA (US); Mark Bilinski, Vista, CA (US); and Raymond Chey Provost, San Diego, CA (US)
Assigned to United States of America as represented by the Secretary of the Navy, Washington, DC (US)
Filed by Naval Information Warfare Center, Pacific, San Diego, CA (US)
Filed on Dec. 23, 2021, as Appl. No. 17/561,028.
Prior Publication US 2023/0206387 A1, Jun. 29, 2023
Int. Cl. G06T 3/06 (2024.01); G01S 17/89 (2020.01); G06T 3/16 (2024.01); G06V 20/62 (2022.01)
CPC G06T 3/06 (2024.01) [G01S 17/89 (2013.01); G06T 3/16 (2024.01); G06V 20/63 (2022.01)] 8 Claims
OG exemplary drawing
 
1. A computer vision system comprising:
a camera;
a light detection and ranging (LIDAR) detector; and
a processor configured to execute a plurality of machine instructions comprising:
a camera module that operates the camera to generate a 2D panoramic image;
a LIDAR module that operates the LIDAR detector to generate a 3D point cloud with distance return values;
a first mapping module that correlates the 3D point cloud to the 2D panoramic image;
a recognition module that identifies and locates at least one target object within the 2D panoramic image and generates target object data;
a second mapping module that correlates the target object data to the 2D panoramic image; and
a third mapping module that correlates the target object to the 2D panoramic image and data to the 3D point cloud;
wherein the first mapping module creates a one-to-one grid map correlating the distance return values to individuals segments of the 2D panoramic image, wherein the third mapping module uses the grid map to correlate the target object data to the 3D point cloud.