The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 19, 2022
Filed:
Mar. 30, 2020
Toyota Research Institute, Inc., Los Altos, CA (US);
Steven A. Parkison, Ann Arbor, MI (US);
Jeffrey M. Walls, Mountain View, CA (US);
Ryan W. Wolcott, Ann Arbor, MI (US);
Mohammad Saad, San Mateo, CA (US);
Ryan M. Eustice, Ann Arbor, MI (US);
TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US);
Abstract
A system for determining the rigid-body transformation between 2D image data and 3D point cloud data includes a first sensor configured to capture image data of an environment, a second sensor configured to capture point cloud data of the environment; and a computing device communicatively coupled to the first sensor and the second sensor. The computing device is configured to receive image data from the first sensor and point cloud data from the second sensor, parameterize one or more 2D lines from image data, parameterize one or more 3D lines from point cloud data, align the one or more 2D lines with the one or more 3D lines by solving a registration problem formulated as a mixed integer linear program to simultaneously solve for a projection transform vector and a data association set, and generate a data mesh comprising the image data aligned with the point cloud data.