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1.发明公开Systems and methods for extracting planar features, matching the planar features, and estimating motion from the planar features 有权对的平面特征提取系统和方法调整的平面特征的移动的平面性和评价
公开(公告)号：EP2249311A1
公开(公告)日：2010-11-10
申请号：EP10161058.2
申请日：2010-04-26
发明人： Lukas, Jan , Kotaba, Ondrei
IPC分类号： G06T7/20
CPC分类号： G06K9/46 , G06K9/00201 , G06T7/246 , G06T7/251 , G06T2207/10028
摘要： A method of controlling an actuator based on a set of three-dimensional (3D) data points is provided. The method includes obtaining a first set of 3D data points for a scene and a second set of 3D data points for a scene with a sensor. At least a first set of planar features is extracted from the first set of 3D data point. At least a second set of planar features is extracted from the second set of 3D data points. A motion is determined between the first set of 3D data points and the second set of 3D data points based on a rotation and a translation from the at least a first set to the at least a second set. At least one actuator is controlled based on the motion.
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2.发明公开Systems and methods for processing extracted plane features 审中-公开Systeme und Verfahren zur Verarbeitung extrahierterFlächenmerkmale
公开(公告)号：EP2413289A1
公开(公告)日：2012-02-01
申请号：EP11175215.0
申请日：2011-07-25
发明人： Lukas, Jan , Susca, Sara , Kotaba, Ondrei
摘要： Systems and methods for processing extracted plane features are provided. In one embodiment, a method for processing extracted plane features includes: estimating an area of each plane of a plurality of planes extracted from data collected by an imaging sensor; generating a list of detected planes including the area of each plane; filtering the list of detected planes to produce a list of candidates for merger, filtering the list of detected planes discarding any plane not satisfying an actual points received criteria; applying a primary merge algorithm to the list of candidates for merger that iteratively produces a list of merged planes by testing hypothetical merged planes against a merging criteria, the hypothetical merged planes each comprising a plane from the list of merged planes and a plane from the list of candidates for merger; and outputting a final list of planes.
摘要翻译： 提供了用于处理提取的平面特征的系统和方法。 在一个实施例中，一种用于处理提取的平面特征的方法包括：估计从由成像传感器收集的数据提取的多个平面中的每个平面的面积; 产生包括每个平面的面积的检测平面的列表; 过滤检测到的平面的列表以产生用于合并的候选列表，过滤丢弃任何不满足实际点接收标准的平面的检测平面的列表; 将主合并算法应用于合并候选者的列表，其通过针对合并标准测试假设的合并平面来迭代地产生合并的平面的列表，所述假想合并的平面各自包括来自合并的平面的列表的平面和来自列表的平面 合并候选人; 并输出最终的飞机列表。
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3.发明公开Extraction of 2D surfaces from a 3D point cloud 审中-公开Extraktion von 2DFlächenaus einer 3D-Punktwolke
公开(公告)号：EP2385496A1
公开(公告)日：2011-11-09
申请号：EP11164687.3
申请日：2011-05-03
CPC分类号： G06T17/00 , G06K9/00201 , G06K9/46 , G06T7/50 , G06T2200/04 , G06T2207/10028
摘要： A method of extracting a feature from a point cloud comprises receiving a three-dimensional (3-D) point cloud representing objects in a scene, the 3-D point cloud containing a plurality of data points; generating a plurality of hypothetical features based on data points in the 3-D point cloud, wherein the data points corresponding to each hypothetical feature are inlier data points for the respective hypothetical feature; and selecting the hypothetical feature having the most inlier data points as representative of an object in the scene.
摘要翻译： 从点云提取特征的方法包括：接收表示场景中的对象的三维（3-D）点云，所述三维点云包含多个数据点; 根据3-D点云中的数据点产生多个假设特征，其中对应于每个假设特征的数据点是各自的假设特征的非零值数据点; 并且选择具有最多异常数据点的假想特征作为场景中的对象的代表。
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公开(公告)号：EP2413289B1
公开(公告)日：2018-09-05
申请号：EP11175215.0
申请日：2011-07-25
发明人： Lukas, Jan , Susca, Sara , Kotaba, Ondrei
摘要： Systems and methods for processing extracted plane features are provided. In one embodiment, a method for processing extracted plane features includes: estimating an area of each plane of a plurality of planes extracted from data collected by an imaging sensor; generating a list of detected planes including the area of each plane; filtering the list of detected planes to produce a list of candidates for merger, filtering the list of detected planes discarding any plane not satisfying an actual points received criteria; applying a primary merge algorithm to the list of candidates for merger that iteratively produces a list of merged planes by testing hypothetical merged planes against a merging criteria, the hypothetical merged planes each comprising a plane from the list of merged planes and a plane from the list of candidates for merger; and outputting a final list of planes.
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5.发明授权Systems and methods for extracting planar features, matching the planar features, and estimating motion from the planar features 有权对的平面特征提取系统和方法调整的平面特征的移动的平面性和评价
公开(公告)号：EP2249311B1
公开(公告)日：2013-07-03
申请号：EP10161058.2
申请日：2010-04-26
发明人： Lukas, Jan , Kotaba, Ondrei
IPC分类号： G06T7/20
CPC分类号： G06K9/46 , G06K9/00201 , G06T7/246 , G06T7/251 , G06T2207/10028
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