US 11,841,431 B2
System and method for increasing resolution of images obtained from a three-dimensional measurement system
Richard L. Sebastian, Frederick, MD (US); and Anatoley T. Zheleznyak, Great Falls, VA (US)
Assigned to Aeva, Inc., Mountain View, CA (US)
Filed by Aeva, Inc., Mountain View, CA (US)
Filed on Aug. 8, 2022, as Appl. No. 17/883,167.
Application 17/883,167 is a continuation of application No. 16/826,467, filed on Mar. 23, 2020, granted, now 11,408,997.
Application 16/826,467 is a continuation of application No. 15/985,586, filed on May 21, 2018, abandoned.
Application 15/985,586 is a continuation of application No. 15/471,272, filed on Mar. 28, 2017, granted, now 9,983,309.
Application 15/471,272 is a continuation of application No. 14/611,557, filed on Feb. 2, 2015, granted, now 9,606,233.
Application 14/611,557 is a continuation of application No. 13/841,620, filed on Mar. 15, 2013, granted, now 8,948,497.
Claims priority of provisional application 61/696,447, filed on Sep. 4, 2012.
Prior Publication US 2023/0213653 A1, Jul. 6, 2023
Int. Cl. G01S 17/42 (2006.01); G06T 5/00 (2006.01); G01S 17/89 (2020.01); G01S 17/58 (2006.01); G01S 7/48 (2006.01); G01S 7/497 (2006.01); G01S 17/86 (2020.01); G01S 17/34 (2020.01)
CPC G01S 17/42 (2013.01) [G01S 7/4808 (2013.01); G01S 7/497 (2013.01); G01S 17/58 (2013.01); G01S 17/86 (2020.01); G01S 17/89 (2013.01); G06T 5/003 (2013.01); G01S 17/34 (2020.01)] 4 Claims
OG exemplary drawing
 
1. A system for increasing resolution of a three-dimensional image of a target, the system comprising:
a lidar subsystem configured to direct at least two beams toward the target and generate a plurality of three-dimensional (3D) measurements for a plurality of points on the target for each of the at least two beams;
a video subsystem configured to provide a plurality of two-dimensional (2D) images of the target; and
a processor configured to:
receive, from the lidar subsystem, the 3D measurements for the plurality of points on the target,
receive, from the video subsystem, the plurality of 2D images of the target,
generate a plurality of three-dimensional (3D) images of the target based on the 3D measurements for the plurality of points on the target and the 2D images of the target, wherein each of the 3D images is generated at a frame time associated with each of the 2D images of the target,
remove motion blur in each of the plurality of 3D images;
transform each of the plurality of 3D images to a frame time of an original 3D image based on a plurality of transformation parameters, and
determine enhanced information for the original 3D image based on each of the transformed plurality of 3D images.