272 results about "Height map" patented technology

Systems and methods are provided for displaying data, such as 3D models, having spatial coordinates. In one aspect, a height map and color map are generated from the data. In another aspect, material classification is applied to surfaces within a 3D model. Based on the 3D model, the height map, the color map, and the material classification, haptic responses are generated on a haptic device. In another aspect, a 3D user interface (UI) data model comprising model definitions is derived from the 3D models. The 3D model is updated with video data. In another aspect, user controls are provided to navigate a point of view through the 3D model to determine which portions of the 3D model are displayed.

An environment map building method and an environment map building apparatus can express the surrounding embodiment with a high resolution in the height direction in a manner robust relative to observation noises. The present invention provides an environment map building apparatus for building a three-dimensional environment map to be used for three-dimensionally determining a region allowing a moving body to move therein according to external environment conditions, which comprises an external environment conditions detecting section that detects external environment conditions, a three-dimensional map building section that builds a three-dimensional map showing the state of occupancy of a three-dimensional grid on the basis of the external environment conditions detected by the external environment conditions detecting section, a relative-to-base-plane height map building section that builds a relative-to-base-plane height map showing heights from a two-dimensional base plane on the basis of the external environment conditions detected by the external environment conditions detecting section, and a height map information modifying section that modifies the information of the relative-to-base-plane height map on the basis of the information on the three-dimensional map.

A method of and apparatus for detecting people using a stereo camera. The method includes: calculating three-dimensional information regarding a moving object from a pair of image signals received from the stereo camera using stereo matching and creating a height map for a specified discrete volume of interest (VOI) using the three-dimensional information; detecting a people candidate region estimated as including one or more persons by finding connected components from the height map using a predetermined algorithm; and generating a histogram with respect to the people candidate region, detecting different height regions using the histogram, and detecting a head region by analyzing the different height regions using a tree structure.

An environment map building method and an environment map building apparatus can express the surrounding embodiment with a high resolution in the height direction in a manner robust relative to observation noises. The present invention provides an environment map building apparatus for building a three-dimensional environment map to be used for three-dimensionally determining a region allowing a moving body to move therein according to external environment conditions, which comprises an external environment conditions detecting section that detects external environment conditions, a three-dimensional map building section that builds a three-dimensional map showing the state of occupancy of a three-dimensional grid on the basis of the external environment conditions detected by the external environment conditions detecting section, a relative-to-base-plane height map building section that builds a relative-to-base-plane height map showing heights from a two-dimensional base plane on the basis of the external environment conditions detected by the external environment conditions detecting section, and a height map information modifying section that modifies the information of the relative-to-base-plane height map on the basis of the information on the three-dimensional map.

Systems and methods for automatic detection of dental features, such as cusps, ridges, and grooves, are disclosed. In accordance with an exemplary embodiment, a computer-implemented system and method for automatic detection of dental features for an occlusal surface of a patient's tooth comprises receiving three dimensional data for the tooth's occlusal surface, projecting the three dimensional data into a two dimensional plane, forming a height map from the projected three dimensional data, and detecting a set of points from the height map.

This invention relates to one mobile robot 3D sensor method, which comprises steps of environment information acquiring, environment information self adapting filter, environment coordinate exchanging and 3D sensing. This invention gets robot environment information through one sense platform composed of 2D laser radar, rotation bench and step motor. This invention also provides one dynamic self-adaptive filter to realize dynamic filter noise removing aim for environment information interference.

The invention provides a level sensor configured to determine a height level of a surface of a substrate, comprising a detection unit arranged to receive a measurement beam after reflection on the substrate, wherein the detection unit comprises an array of detection elements, wherein each detection element is arranged to receive a part of the measurement beam reflected on a measurement subarea of the measurement area, and is configured to provide a measurement signal based on the part of the measurement beam received by the respective detection element, and wherein the processing unit is configured to calculate, in dependence of a selected resolution at the measurement subarea, a height level of the measurement subarea, or to calculate a height level of a combination of multiple measurement subareas.

Methods and apparatus for detecting obstacles in the flight path of an air vehicle are described. The air vehicle utilizes a radar altimeter incorporating a forward looking antenna and an electronic digital elevation map to provide precision terrain aided navigation. The method comprises determining a position of the air vehicle on the digital elevation map, selecting an area of the digital elevation map in the flight path of the air vehicle, based at least in part on the determined air vehicle position, and scanning the terrain representing the selected map area with the forward looking antenna. The method also comprises combining the digital elevation map data for the selected map area with radar return data for the scanned, selected area and displaying the combined data to provide a representation of the terrain and obstacles in the forward flight path of the air vehicle.

The invention discloses a method for selecting an autonomous landing area of an unmanned aerial vehicle (UAV) under a complex environment based on visual SLAM, which is used for solving the technical problem of poor practicability of the existing UAV landing area control method. According to the technical solution, the method comprises the steps of obtaining an image sequence via an overlooking monocular camera carried by a UAV mobile platform, calculating the pose of the UAV in real time via an SLAM algorithm and establishing a sparse point cloud map, and meshing the point cloud map to construct a two-dimensional grid height map; then dividing the grid map according to the height in combination with a Means shift image segmentation algorithm, and finally screening an area that is farthest from a potential obstacle and is suitable for landing of the UVA according to the landing height requirement. According to the method, the pose of the UAV is calculated by adopting the monocular visual SLAM and estimated in real time, the two-dimensional grid height map is constructed, and the area suitable for landing of the UVA is screened. The method, which does not depend on a landmark, has good practicability.

Reconstructing the shape of the surface of an object in greater than two dimensions is performed using a noise-tolerant reconstruction process and / or a multi-resolution reconstruction process. The noise-tolerant reconstruction process can be a Bayesian reconstruction process that adds noise information representing the noise distribution in optical image(s) of the object to surface gradient information estimated from the images to determine surface height information that defines the shape of the surface of the object in greater than two dimensions. In the multi-resolution reconstruction process, for each resolution of the image, the surface gradient information is estimated and the surface height information is calculated using the estimated surface gradient information. To obtain the final surface height map, the surface height information from each resolution is combined to reconstruct the shape of the surface of the object in greater than two dimensions. The multi-resolution reconstruction process can be used with the Bayesian reconstruction process or with another decomposition process, such as a wavelet decomposition process.

An image generation system generates an image of an object space viewed from a given viewpoint. When a contact event in which a first model object comes in contact with a second model object in the object space has occurred, height information of grid points corresponding to a contact plane of the first model object is fetched by referring to height map data in which height information of a surface of the first model object with respect to a given reference plane set for the fist model object is set in a grid pattern, and vertices of a contact plane of the second model object arm moved based on the fetched height information of the grid points.

A method, system, and computer-readable storage medium are disclosed for simulation of an erodible tip. A brush tool representing an erodible media is modeled as a height map. Information is collected about a user manipulation of a stylus representing a stroke made on a virtual canvas with the brush tool. A mark to be made on the virtual canvas is determined dependent on the brush tool model and the collected information. The determined mark is rendered. A change in the height map of the brush tool due to the stroke is determined dependent on the brush tool model and the collected information. One or more subsequent marks are rendered in response to manipulation of the brush tool dependent on the determined change in the height map.

The invention relates to a non-contact measuring method, in particular to visual measuring method of a stockpile in a large-scale stock ground. The method comprises the following steps of: (1) constructing a visual measuring system of stock ground; (2) mounting a binocular vision subsystem; (3) establishing a geometric model of a CCD (Charge Coupled Device) camera; (4) calibrating the parameters of the CCD camera; (5) collecting images; (6) processing the images; (7) searching and matching angular points; (8) confirming the three-dimensional coordinate values of an object point; and (9) interpolating a curve and establishing a height map in a world coordinate system; and (10) measuring the volume. The visual measuring method of the invention automatically eliminates the image distortion caused by a wide-angle lens, can automatically and accurately match the angular points of a left view and a right view, automatically generates the three-dimensional space coordinates of the object point by utilizing an image data conversion relation, optimizes the three-dimensional angular point distribution and constructs the height map of the world coordinate system so that the volume a geometrical irregular stockpile can be simply, intuitively and accurately calculate.

The invention discloses a formation fracture space reconstruction method based on rock core measure. The formation fracture space reconstruction method based on the rock core measure comprises the following steps: step 1 of selecting fracture rock core, step 2 of scanning and processing a fracture rock sample through non-contact type measure system and obtaining a surface chart, step 3 of acquiring form data through a three-dimensional point cloud data reverse engineering software, step 4 of exporting the form data, generating a point cloud file, step 5 of generating the point cloud file to a fracture space grid chart by using a matrix laboratory ( MATLAB), step 6 of drawing contour lines, step 7 of processing and generating a space height map, and step 8 of conducting necessary rotation and move to the space height map, and obtaining a reconstruction fracture space model. The formation fracture space reconstruction method based on the rock core measure has the advantages that the height of the reconstruction fracture space model acquired through reconstruction is the same as an actual fracture form, precision is improved significantly, feasibility and practicability are achieved, digital simulation research of mesomechanics can be well satisfied, and necessary reference for further research of reservoir network fracture plane, output volume prediction and pressure sensitivity test is served.

A method for producing a digital topographic map, comprising the following steps of: a step for dividing a basic map, which is produced through UTM drawing method, into grid-like sectors at a predetermined distance, and further dividing the sector obtained into a smaller one (4), thereby producing small sectors while interpolating discontinuous data being in short between each sectors and within each of the sectors; a step for producing digital data by relating x,y coordinates of the small sector (4) obtained and a sea level obtained through measurement, upon basis of an algorithm having a rationality, and connecting the small sectors (4) being same in the sea level thereof with a straight line, thereby producing a first topographic map (5), on which contour lines (6) are formed with lines of segments; and a step for conducting a smoothing process upon the contour lines (6) of said first topographic map (5), mathematically, thereby producing a second topographic map (7), on which the contour lines (6) are formed with curved lines, being smoother than the contour liens (6) of said first topographic map, which are formed with the lines of segments, thereby enabling to obtain the digital topographic map, displaying the contour lines (6) with smoothly curved lines thereon.

The invention discloses an accelerated terrain rendering method based on a graphics processor. Not only a problem of a T-shaped crack occurring in a level of detail (LOD) rendering process can be solved effectively, but also operation resource of a central processing unit (CPU) is saved, and a processing performance of the CPU is improved due to the fact that calculation is based on the graphics processor. By means of the method, a large-scale terrain can be rendered on a computer only supporting Direct three-dimensional (3D) 9 in high quality and high performance mode, and the method can be widely applied to 3D games and virtual reality application programs. The accelerated terrain rendering method includes the following steps: dividing an original terrain image into a plurality of terrain blocks with same area; using LOD terrain rendering arithmetic, and building different LOD-level vertex buffer and index buffer; using a quad-tree to organize the whole original terrain, each leaf node corresponds to a terrain block; rendering the terrain; using a graphics processing unit (GPU) to conduct Vertex Shader programming, obtaining height value of a terrain block vertex from a height map by using a vertex texture sampling function; and modifying the height value of a vertex.

A method for generating bump map data substantially in real time for use in a 3-dimensional computer graphics system. Data is received which defines an area to which a texture is to be applied. Texture data to apply to the area is also received. This data includes surface height data. A set of partially overlapping samples of texture data are then filtered and surface tangent vectors derived therefrom. A bump map surface normal is then derived from the tangent vectors.

The invention discloses a traffic image semantic segmentation method based on a multi-feature map. The method comprises the following steps: obtaining a multi-feature map training sample: a disparitymap, a height map and an angle map; constructing a network model, training the network model, inputting the trained network model and a six-channel test image into the network model, outputting a probability value that each pixel belongs to each object category in the six-channel image via a multi-class classifier softmax layer, then predicting the object category to which each pixel in the six-channel image belongs, and finally outputting an image semantic segmentation map. By adoption of the traffic image semantic segmentation method based on the multi-feature map provided by the invention,the fusion of a color image with a depth map, the height map and the angle map, more feature information of the image can be obtained, and it is conducive to understanding the road traffic scene and improving the semantic segmentation accuracy. According to the traffic image semantic segmentation method based on the multi-feature map provided by the invention, by means of the learned effective features, the object category to which each pixel in the image belongs can be predicted, and the image semantic segmentation map is output.

The invention relates to a global illumination real-time rendering method based on height gradient map analysis. The method comprises the following steps of: providing a global illumination computation model orientated to microstructure surface object real-time rendering, and approximately decomposing the illumination computation into computations of three components of ambient light incidence, direct light source illumination and once interaction diffuse reflection, and the like; defining a microstructure height gradient map, and accordingly constructing a local peak point set of visible points; in ambient light computation, providing a self-adapting ambient light sheltering computation which is used for computing a sheltering angle by means of the local peak point set; in the direct illumination, providing a micro-structure shadow correction method which comprises the following steps of: searching a nearest local peak point profile on the incident light direction, and appropriately determining a shadow area caused by a microstructure by comparing a light projection in the profile with the sheltering angle of the local peak point; and finally determining a sampling range of the once interaction diffuse reflection according to the local peak point set of the visible points, and carrying out bleeding treatment. The whole global illumination computation method is finished in the image space.

The invention discloses a method of restoring a three-dimensional human body posture from an unmarked monocular image in combination with a height map. The method comprises the following steps: 1) a color image and a height image are used for training to obtain a deep convolutional network-based two-dimensional joint point recognition model; 2) a video frame image sequence and a camera parameter are inputted, and a height map corresponding to each frame of image is calculated; 3) the video frame image and the height map obtained in the second step are inputted, and the two-dimensional joint point recognition model obtained through training the first step is used to obtain two-dimensional joint point coordinates of a human body in each frame of image; and 4) the two-dimensional joint point coordinates obtained in the third step are inputted, and the human body three-dimensional posture is restored according to an optimization model. During the two-dimensional joint point recognition process, the color image and the height image are used integrally, and the two-dimensional joint point recognition accuracy is improved; and time sequence consistency constraints are added to the optimization model which can restore the three-dimensional human body posture from the two-dimensional joint point, and thus the restored three-dimensional human body posture is closer to the real human body posture.

A parallax representation unit in a displayed image processing unit uses a height map containing information on a height of an object for each pixel to represent different views caused by the height of the object. A color representation unit uses, for example, texture coordinate values derived by the parallax representation unit to render the image, shifting the pixel defined in the color map. The color representation unit uses the normal map that maintains normals to the surface of the object for each pixel to change the way that light impinges on the surface and represent the roughness accordingly. A shadow representation unit uses a horizon map, which maintains information for each pixel to indicate whether a shadow is cast depending on the angle relative to the light source, so as to shadow the image rendered by the color representation unit.

A method of image rendering includes representing a height map of terrain elevation data as a virtual texture; sampling a portion of the height map terrain elevation data on a uniform grid corresponding to render nodes used for rendering a terrain mesh, wherein a correspondence of the grid to the render nodes results in the sampled terrain elevation data for a render node being entirely contained within one physical page of memory, and wherein the equivalent position of a height map virtual co-ordinate in a page of physical memory is obtained based upon an offset to a physical page co-ordinate, rather than by reference to an indirection texture; and rendering terrain mesh for a render node according to terrain elevation data obtained from a single physical page of memory corresponding to respective virtual co-ordinates.

A method and apparatus for using a predetermined portion of terrain elevation maps in a database for aiding in computing a three-dimensional position of a wireless station. Instead of using the entire terrain model of the earth or an entire country, the database consists of an incomplete model, which includes only the most populous areas or specific regions. This reduces the size of the information in the database, which in turn reduces the amount of time to compute the positions of the wireless device.

A processor calculates a safe landing zone for an aircraft. The processor executes the following steps: (a) converting 4D point cloud data into Cartesian coordinates to form a height map of a region; (b) segmenting the height map to form boundaries of an object in the region; and (c) determining maximum height within the boundaries of the object. Also included are (d) determining if the maximum height is greater than a predetermined height to form a vertical obstruction (VO) in the region; and (e) determining if the VO is in the line of sight (LOS) of the aircraft to classify the landing zone as safe or unsafe. The processor further includes the step of: (f) forming a slope map over the height map.

A lithographic apparatus applies a pattern onto a substrate using an optical projection system. The apparatus includes an optical level sensor and an associated processor for obtaining a height map of the substrate surface prior to applying the pattern. A controller uses the height map to control focusing with respect to the projection system when applying the pattern. The processor is further arranged to use information relating to processing previously applied to the substrate to define at least first and second regions of the substrate and to vary the manner in which the measurement signals are used to control the focusing, between the first and second regions. For example, an algorithm to calculate height values from optical measurement signals can be varied according to differences in known structure and / or materials. Measurements from certain regions can be selectively excluded from calculation of the height map and / or from use in the focusing.

Methods and apparatuses (including systems and devices), including computer-implemented methods for segmenting, correcting and / or modifying a three-dimensional (3D) model of a subject's oral cavity to determine individual components such as teeth, gingiva, tongue, palate, etc., that may be selective and / or collectively digitally manipulated. In some implementations, artificial intelligence uses libraries of labeled 2D images and 3D dental models to learn how to segment a 3D dental model of a subject's oral cavity using 2D images, height map and / or other data and projection values that relate the 2D images to the 3D model. As noted herein, the dental classes can include a variety of intra-oral and extra-oral objects and can be represented as binary values, discrete values, a continuum of height map data, etc. In some implementations, several dental classes are predicted concurrently.

The invention discloses a DEM super-resolution method based on a convolutional neural network. The method includes following steps: (1) obtaining a super-resolution convolutional neural network through training according to low-resolution image data and high-resolution image data corresponding to each other in advance; (2) extending to-be-processed low-resolution DEM data by employing an interpolation method, and obtaining quasi-high-resolution DEM data having the same scale with expected high-resolution DEM data; (3) obtaining a gradient map of the quasi-high-resolution DEM data by employing en edge extraction operator; (4) inputting the gradient map to the super-resolution convolutional neural network, and obtaining an estimation gradient map of the high-resolution DEM data; and (5) reconstructing a height map of the high-resolution DEM based on constraint of the estimation gradient map and the to-be-processed low-resolution DEM data. According to the super-resolution method, the robustness is high, and the precision of the reconstruction result is high.

There is provided a system and method for counting riders arbitrarily positioned in a vehicle. There is provided a method comprising receiving, from at least one camera filtered to capture non-visible light, video data corresponding to the vehicle passing through a light source filtered for non-visible light, converting the video data into a 3D height map, and analyzing the 3D height map to determine a number of riders in the vehicle. The camera and light source may be mounted in a permanent position using a gantry or another suitable system where the vehicle travels across the camera and light system in a determined manner, for example through a vehicle track. Multiple cameras may be used to increase detection accuracy. To detect persons in the 3D height map, the analysis may search for height patterns indicating heads and shoulders of persons, compare against height map templates, or use machine-learning methods.

A sample, which has a mesa portion having a pattern thereon, is placed on a Z table. Light is irradiated to the mesa portion through an optical system and light reflected by the mesa portion is received to measure a height of the mesa portion. A height map of the mesa portion is created based on a height of a corner position. A height using the height map is corrected based on a deviation of a measured value from a target value, and a temporal variation of a focal position of light irradiated to the mesa portion. An optical image of the pattern is obtained while controlling the Z table based on the corrected height of the mesa portion. The optical image is compared with a reference image and a defect is determined when a difference value between the optical image and reference image is more than a predetermined threshold value.