公开(公告)号：US09619691B2

公开(公告)日：2017-04-11

申请号：US14641171

申请日：2015-03-06

申请人： Guan Pang ,  Jing Huang ,  Amir Anvar ,  Michael Brandon Casey ,  Christopher Lee Fisher ,  Suya You ,  Ulrich Neumann

发明人： Guan Pang ,  Jing Huang ,  Amir Anvar ,  Michael Brandon Casey ,  Christopher Lee Fisher ,  Suya You ,  Ulrich Neumann

IPC分类号： G06K9/00 ,  G06T7/00 ,  H04N13/00 ,  H04N13/02

CPC分类号： G06K9/00208 ,  G06K9/00691 ,  G06K2209/19 ,  G06T7/001 ,  G06T7/254 ,  G06T7/74 ,  G06T2207/10028 ,  G06T2207/30108 ,  H04N13/111 ,  H04N13/275

摘要： A method of detecting objects in three-dimensional (3D) point clouds and detecting differences between 3D point clouds and the objects therein is disclosed. A method includes receiving a first scene 3D point cloud and a second scene 3D point cloud, wherein the first scene 3D point cloud and the second scene 3D point cloud include first and second target objects, respectively; aligning the first scene 3D point cloud and the second scene 3D point cloud; detecting the first and second target objects from the first scene 3D point cloud and the second scene 3D point cloud, respectively; comparing the detected first target object with the detected second target object; and identifying, based on the comparison, one or more differences between the detected first target object and the detected second target object. Further aspects relate to detecting changes of target objects within scenes of multiple 3D point clouds.

公开(公告)号：US20150254499A1

公开(公告)日：2015-09-10

申请号：US14641171

申请日：2015-03-06

申请人： Guan PANG ,  Jing HUANG ,  Amir ANVAR ,  Michael Brandon CASEY ,  Christopher Lee FISHER ,  Suya YOU ,  Ulrich NEUMANN

发明人： Guan PANG ,  Jing HUANG ,  Amir ANVAR ,  Michael Brandon CASEY ,  Christopher Lee FISHER ,  Suya YOU ,  Ulrich NEUMANN

IPC分类号： G06K9/00 ,  H04N13/00 ,  G06T7/00

CPC分类号： G06K9/00208 ,  G06K9/00691 ,  G06K2209/19 ,  G06T7/001 ,  G06T7/254 ,  G06T7/74 ,  G06T2207/10028 ,  G06T2207/30108 ,  H04N13/111 ,  H04N13/275

摘要： A method of detecting objects in three-dimensional (3D) point clouds and detecting differences between 3D point clouds and the objects therein is disclosed. A method includes receiving a first scene 3D point cloud and a second scene 3D point cloud, wherein the first scene 3D point cloud and the second scene 3D point cloud include first and second target objects, respectively; aligning the first scene 3D point cloud and the second scene 3D point cloud; detecting the first and second target objects from the first scene 3D point cloud and the second scene 3D point cloud, respectively; comparing the detected first target object with the detected second target object; and identifying, based on the comparison, one or more differences between the detected first target object and the detected second target object. Further aspects relate to detecting changes of target objects within scenes of multiple 3D point clouds.

摘要翻译： 公开了一种在三维（3D）点云中检测对象并检测3D点云与其中的对象之间的差异的方法。 一种方法包括接收第一场景3D点云和第二场景3D点云，其中第一场景3D点云和第二场景3D点云分别包括第一和第二目标对象; 对齐第一个场景3D点云和第二个场景3D点云; 分别从第一场景3D点云和第二场景3D点云检测第一和第二目标对象; 将检测到的第一目标对象与检测到的第二目标对象进行比较; 以及基于所述比较来识别所检测到的第一目标对象和所检测的第二目标对象之间的一个或多个差异。 另外的方面涉及检测多个3D点云的场景内的目标对象的变化。