US Patent 9536339 Processing unordered point cloud

Described are methods and systems of processing three-dimensional (“3D”) data by generating an edge map, a depth map, or both. Data points are placed into a bin array based their respective image coordinates. The data points in each bin are processed to determine edge data. An edge map may be generated from this edge data. A bin value may be generated based on the data points in each bin, and a depth map generated using these bin values. The edge data and the edge map may be processed using one or more filter functions. Measurements based on the edge map may be provided at a resolution greater than that available with the depth map.