System and method for increasing resolution of images obtained from a three-dimensional measurement system
View Patent ↗A system uses range and Doppler velocity measurements from a lidar system and images from a video system to estimate a six degree-of-freedom trajectory (6DOF) of a target. The 6DOF transformation parameters are used to transform multiple images to the frame time of a selected image, thus obtaining multiple images at the same frame time. These multiple images may be used to increase a resolution of the image at each frame time, obtaining the collection of the superresolution images.
1. A system for increasing resolution of a three-dimensional image of a target, the system comprising:
a lidar subsystem configured to direct at least two beams toward the target and generate, for each of the at least two beams, a three-dimensional (3D) measurement for each of a plurality of points on the target;
a video subsystem configured to provide a plurality of two-dimensional (2D) images of the target; and
a processor configured to:
receive, from the lidar subsystem, the 3D measurements for the plurality of points on the target,
receive, from the video subsystem, the plurality of 2D images of the target,
generate a plurality of three-dimensional (3D) images of the target based on the 3D measurements for the plurality of points on the target and the 2D images of the target, wherein each of the 3D images is generated at a frame time associated with each of the plurality of 2D images of the target,
remove motion blur in each of the plurality of 3D images, and
transform each of the plurality of 3D images to a frame time of an original 3 D image based on a plurality of transformation parameters.
2. The system of claim 1 , wherein the target is a moving target.
3. The system of claim 1 , wherein the target is a stationary target, and wherein the lidar subsystem and the video subsystem move relative to the stationary target.
4. The system of claim 1 , wherein the processor configured to remove motion blur is further configured to:
remove motion blur based on pixel velocity information obtained from the plurality of transformation parameters.
5. A method for increasing resolution of a three-dimensional image of a target, the method comprising:
receiving, from a lidar subsystem, a three-dimensional (3D) measurement for each of a plurality of points on the target;
receiving, from a video subsystem, a plurality of two-dimensional (2D) images of the target;
generating a plurality of three-dimensional (3D) images of the target based on the 3D measurement for each of the plurality of points on the target and the plurality of 2D images of the target, wherein each of the plurality of 3D images is generated at a frame time associated with each of the plurality of the 2D images of the target;
removing motion blur in each of the plurality of 3D images; and
transforming each of the plurality of 3D images to a frame time of an original 3D image based on a plurality of transformation parameters.
6. The method of claim 5 , further comprising:
determining enhanced information for the original 3D image based on each of the transformed plurality of 3D images.
7. The method of claim 5 , wherein the target is a moving target.
8. The method of claim 5 , wherein the target is a stationary target, and wherein the lidar subsystem and the video subsystem move relative to the stationary target.
9. The method of claim 5 , wherein removing motion blur further comprises:
removing motion blur based on pixel velocity information obtained from the plurality of transformation parameters.