Abstract: According to an embodiment, a method for generating a 3-D stereo structure comprises registering and rectifying a first image frame and a second image frame by local correction matching, extracting a first scan line from the first image frame, extracting a second scan line from the second image frame corresponding to the first scan line, calculating a pixel distance between the first scan line and the second scan line for each pixel for a plurality of pixel shifts, calculating a smoothed pixel distance for each pixel for the pixel shifts by filtering the pixel distance for each pixel over the pixel shifts, and determining a scaled height for each pixel of the first scan line, the scaled height comprising a pixel shift from among the pixel shifts corresponding to a minimal distance of the smoothed pixel distance for the pixel.

Abstract: A method for detecting an opening in a structure represented by a three-dimensional point cloud may include the steps of: (1) creating a three-dimensional point cloud map of a scene, the three-dimensional point cloud map including a plurality of points representing a ground plane and the structure upon the ground plane, (2) identifying an absence of points within the plurality of points representing the structure, and (3) determining whether the absence of points represents the opening in the structure.

Abstract: A method for detecting an opening in a structure represented by a three-dimensional point cloud may include the steps of: (1) creating a three-dimensional point cloud map of a scene, the three-dimensional point cloud map including a plurality of points representing a ground plane and the structure upon the ground plane, (2) identifying an absence of points within the plurality of points representing the structure, and (3) determining whether the absence of points represents the opening in the structure.

Abstract: A method for detecting one or more target objects is provided including obtaining 2-dimensional imaging information and 3-dimensional point cloud information of a target zone. The method also includes determining a ground plane in the point cloud information and removing the ground plane to generate modified 3-dimensional information. Also, the method includes identifying a set of 2-dimensional candidate objects from the 2-dimensional imaging information, and identifying a set of 3-dimensional candidate objects from the modified 3-dimensional information. The method also includes determining, for each of at least some of the 2-dimensional candidate objects, a corresponding 3-dimensional candidate object from the set of 3-dimensional candidate objects.

Abstract: A method for detecting one or more target objects is provided including obtaining 2-dimensional imaging information and 3-dimensional point cloud information of a target zone. The method also includes determining a ground plane in the point cloud information and removing the ground plane to generate modified 3-dimensional information. Also, the method includes identifying a set of 2-dimensional candidate objects from the 2-dimensional imaging information, and identifying a set of 3-dimensional candidate objects from the modified 3-dimensional information. The method also includes determining, for each of at least some of the 2-dimensional candidate objects, a corresponding 3-dimensional candidate object from the set of 3-dimensional candidate objects.

Abstract: According to an embodiment, a method for generating a 3-D stereo structure comprises registering and rectifying a first image frame and a second image frame by local correction matching, extracting a first scan line from the first image frame, extracting a second scan line from the second image frame corresponding to the first scan line, calculating a pixel distance between the first scan line and the second scan line for each pixel for a plurality of pixel shifts, calculating a smoothed pixel distance for each pixel for the pixel shifts by filtering the pixel distance for each pixel over the pixel shifts, and determining a scaled height for each pixel of the first scan line, the scaled height comprising a pixel shift from among the pixel shifts corresponding to a minimal distance of the smoothed pixel distance for the pixel.