Title:
IMAGE FUSION METHOD AND APPARATUS BASED ON IMAGE AND LASER POINT CLOUD, DEVICE, AND MEDIUM
Document Type and Number:
WIPO Patent Application WO/2023/197351
Kind Code:
A1
Abstract:
An image fusion method based on an image and a laser point cloud, comprising: acquiring a first image and sparse point cloud data (S10), wherein point cloud data comprised in each channel of the sparse point cloud data respectively corresponds to pixel points comprised in the first image, and the sparse point cloud data and the first image have spatial and temporal synchronisms; obtaining, according to the first image, a target gradient value corresponding to at least one target pixel point comprised in the first image (S12), wherein the target pixel point is a non-edge pixel point of the first image; upsampling, on the basis of at least one target gradient value, the sparse point cloud data to obtain dense point cloud data (S14), wherein the target gradient value is determined according to corresponding target pixel points between adjacent channels of the sparse point cloud data; and obtaining a target fused image on the basis of the first image and the dense point cloud data (S16). By using the method, the calculation amount can be reduced, and the resolution of point cloud data is improved.
Inventors:
SHAN JIAWEI (CN)
ZHENG RUITONG (CN)
WANG SHIWEI (CN)
SHEN LUOFENG (CN)
LI HONGPENG (CN)
ZHENG RUITONG (CN)
WANG SHIWEI (CN)
SHEN LUOFENG (CN)
LI HONGPENG (CN)
Application Number:
PCT/CN2022/088255
Publication Date:
October 19, 2023
Filing Date:
April 21, 2022
Export Citation:
Assignee:
TANWAY TECH BEIJING CO LTD (CN)
International Classes:
G06T5/50; G06T7/13
Foreign References:
| CN112766328A | 2021-05-07 | |||
| CN107610084A | 2018-01-19 | |||
| CN111161338A | 2020-05-15 | |||
| CN112150595A | 2020-12-29 | |||
| CN112731436A | 2021-04-30 | |||
| CN112085842A | 2020-12-15 | |||
| US20180101932A1 | 2018-04-12 |
Attorney, Agent or Firm:
BEIJING MIZAR STAR INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
Download PDF: