公开(公告)号：EP1694821B1

公开(公告)日：2017-07-05

申请号：EP04818003.8

申请日：2004-12-10

申请人： Strider Labs, Inc.

发明人： THRUN, Sebastian ,  WEGBREIT, Eliot

IPC分类号： G06K9/52 ,  G01B21/20 ,  G06T7/00 ,  G06T7/60

CPC分类号： G01B21/20 ,  G06K9/52 ,  G06T7/55 ,  G06T7/68 ,  G06T2207/10012 ,  G06T2207/20116

摘要： A system for obtaining a probable 3D map of an occluded surface of an object is provided. The system receives an initial 3D map of a visible surface of the object and identifies one or more symmetries of the initial 3D map. The system computes the probable 3D map of the occluded surface by projecting points of the initial 3D map into occluded regions of space according to the identified symmetries. The system can also comprise an imager for obtaining the initial 3D map. The actual occluded surface cannot be known with absolute certainly because it is occluded; however, the computed 3D map will closely resemble the actual occluded surface in many instances because most objects possess one or more symmetries and the computed 3D map is based on such symmetries that are identified in the initial 3D map of the object.

摘要翻译： 提供了一种用于获得物体的遮挡表面的可能3D图的系统。 系统接收对象的可见表面的初始3D图并识别初始3D图的一个或多个对称性。 系统根据识别的对称性通过将初始3D地图的点投影到遮挡的空间区域来计算遮挡表面的可能的3D地图。 该系统还可以包括用于获得初始3D地图的成像器。 实际的被遮挡的表面不能被绝对地知道，因为它被遮挡; 然而，由于大多数物体具有一个或多个对称性并且计算出的3D地图基于在物体的初始3D地图中标识的这种对称性，所以计算的3D地图在许多情况下将与实际的遮挡表面非常相似。

公开(公告)号：EP1694821A2

公开(公告)日：2006-08-30

申请号：EP04818003.8

申请日：2004-12-10

申请人： Strider Labs, Inc.

发明人： THRUN, Sebastian ,  WEGBREIT, Eliot

IPC分类号： C12N1/00

CPC分类号： G01B21/20 ,  G06K9/52 ,  G06T7/55 ,  G06T7/68 ,  G06T2207/10012 ,  G06T2207/20116

摘要： A system for obtaining a probable 3D map of an occluded surface of an object is provided. The system receives an initial 3D map of a visible surface of the object and identifies one or more symmetries of the initial 3D map. The system computes the probable 3D map of the occluded surface by projecting points of the initial 3D map into occluded regions of space according to the identified symmetries. The system can also comprise an imager for obtaining the initial 3D map. The actual occluded surface cannot be known with absolute certainly because it is occluded; however, the computed 3D map will closely resemble the actual occluded surface in many instances because most objects possess one or more symmetries and the computed 3D map is based on such symmetries that are identified in the initial 3D map of the object.

摘要翻译： 提供了一种用于获得物体的遮挡表面的可能的3D地图的系统。 系统接收对象的可见表面的初始3D映射，并识别初始3D映射的一个或多个对称性。 根据所确定的对称性，系统通过将初始3D图的点投影到空间的闭塞区域来计算遮挡表面的可能3D图。 该系统还可以包括用于获得初始3D地图的成像器。 实际的封闭表面绝对不能被绝对地知道，因为它被遮挡; 然而，在许多情况下，计算出的3D地图将与实际的遮挡表面非常相似，因为大多数物体具有一个或多个对称性，并且所计算的3D地图基于在物体的初始3D地图中识别的这种对称性。