LiDAR Point Cloud Processing With Camera and INS Georeferencing
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Solution Overview
Problem
Conventional LiDAR systems generate vast amounts of raw data that require significant post-processing to be usable, which is time-consuming and inefficient, especially when additional missions are needed to ensure complete data collection.
Innovation Solution
A payload system for movable objects, integrating a scanning sensor, cameras, and an inertial navigation system, performs online processing to generate georeferenced data in real-time, using a shared clock signal for synchronization, and stores data for subsequent post-processing to enhance precision and reduce noise.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If LiDAR systems generate and collect complete mapping data, then measurement precision is improved, but loss of time increases due to significant post-processing requirements
Solution Approach 1:
The patent applies preliminary action by performing down-sampling and georeferencing operations on LiDAR data during the data collection phase rather than as a separate post-processing step. The embedded processor continuously down-samples raw LiDAR points and associates them with GPS coordinates and flight path information in real-time, enabling immediate visualization and significantly reducing the time required for subsequent post-processing while maintaining sufficient precision for mapping applications
2Manufacturing precision
If LiDAR systems perform multiple missions to ensure complete data collection, then manufacturing precision is improved, but loss of time increases due to additional missions required
Solution Approach 1:
The patent implements feedback by providing real-time visualization of processed mapping data during the flight mission. The system continuously displays the mapped terrain and flight path on a ground station interface, allowing operators to immediately assess data collection completeness and make decisions about whether additional missions are needed, thereby reducing unnecessary repeat missions and total mission time while ensuring adequate data coverage
3Productivity
If LiDAR systems process and visualize data in real-time, then productivity is improved, but device complexity increases due to onboard processing requirements
Solution Approach 1:
The patent applies segmentation by dividing the data processing functionality into distinct modules: an embedded processor onboard the aircraft performs down-sampling and georeferencing of LiDAR data, while a separate ground station system handles visualization and further analysis. This segmentation allows real-time processing with reduced complexity on the mobile platform by performing only essential preprocessing operations onboard, while leveraging ground-based computing resources for more complex tasks
Data Source
AI summary
Techniques are disclosed for mapping in a movable object environment. A system may comprise a movable object, a payload coupled to the movable object, the payload comprising an embedded system including an embedded processor, a scanning sensor, one or more cameras, and an inertial navigation system (INS). The payload further including an online processing application, the online processing application including instructions which, when executed by the embedded processor, cause the online processing application to obtain mapping data from the scanning sensor, obtain image data from a camera of the one or more cameras, obtain positioning data from the INS, associate the mapping data with the positioning data to generate georeferenced data, downsample the georeferenced data to generate downsampled georeferenced data, and provide the downsampled georeferenced data to a client device to be visualized on the client device in real-time.