Trimble Ab

Trimble Inc.

Guillaume Tremblay

Thomas G Chaperon

Guillaume David

Jorge Hernandez Londono

Fabrice Monnier

Samnang Kheng

A method of colorizing a 3D point cloud includes receiving the 3D point cloud, receiving a 2D color image acquired by a camera, creating a 2D intensity image of the 3D point cloud based on intrinsic and extrinsic parameters of the camera, generating a set of refined camera parameters by matching the 2D intensity image and the 2D color image, creating a depth buffer for the 3D point cloud using the set of refined camera parameters, determining a foreground depth for each respective pixel of the depth buffer, and coloring the point cloud by, for each respective point of the 3D point cloud: upon determining that the respective point is in the foreground, assigning a color of a corresponding pixel in the 2D color image to the respective point; and upon determining that the respective point is not in the foreground, not assigning any color to the respective point.

Scan colorization with an uncalibrated camera

Methods and apparatus are provided for processing of data representing points in space wherein each is represented by components defining its position in a coordinate system and at least one parameter. For each point, the data are separated into a layer per component, and each component is assigned to a cell of a two-dimensional grid of cells such that corresponding cells of multiple layers contain the components of a point. A component of a point is retrieved by reference to a grid position corresponding to the point and to a layer corresponding to the component. Each layer is segmented into patches of cells such that a component of a point can be retrieved by reference to a grid position of a patch within a layer and to a grid position of a cell within a patch. A layer is compressed using an associated codec.

Methods and apparatus for point cloud data management

Methods and apparatus are provided for processing data representing three-dimensional points organized in a data structure wherein each point has multiple components, the data is organized in a respective layer per component, each layer is segmented in cells of a two-dimensional grid, the cells are arranged such that the components of a given point are contained in corresponding cells of multiple layers, the cells are grouped in patches by layer, and the patches are arranged such that the components of an array of points is represented by corresponding patches of multiple layers. At least one first criterion and at least one second criterion are obtained. Data are retrieved from cells of patches meeting the at least one first criterion and from layers meeting the at least one second criterion. The retrieved data are processed to obtain a derivative data set.

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Neuilly Plaisance, France

Guillaume Tremblay