US Patent 12008777 Validating an SfM map using lidar point clouds

Disclosed herein are system and method embodiments to implement a validation of an SfM map. An embodiment operates by receiving a motion-generated map corresponding to a digital image, generating a first depth map, wherein the first depth map comprises depth information for one or more triangulated points located within the motion generated image. The embodiment further receives a light detection and ranging (lidar) generated point cloud including at least a portion of the one or more triangulated points, splats the lidar point cloud proximate to the portion of the one or more triangulated points and generates a second depth map for the portion and identifies an incorrect triangulated point, of the one or more triangulated points, based on comparing the first depth information to the second depth information. The incorrect triangulated points may be removed from the SfM map or marked with a low degree of confidence.