公开(公告)号：US08379969B2

公开(公告)日：2013-02-19

申请号：US12756611

申请日：2010-04-08

申请人： Bjoern Barrois ,  Lars Krueger ,  Christian Woehler

发明人： Bjoern Barrois ,  Lars Krueger ,  Christian Woehler

IPC分类号： G06K9/00 ,  G06K9/34 ,  G06K9/62

CPC分类号： G01B11/245 ,  G01C11/06 ,  G06K9/00214 ,  G06T7/30 ,  G06T7/593 ,  G06T2200/04

摘要： The invention relates to a method for matching an object model to a three-dimensional point cloud, wherein the point cloud is generated from two images by means of a stereo method and a clustering method is applied to the point cloud in order to identify points belonging to respectively one cluster, wherein model matching is subsequently carried out, with at least one object model being superposed on at least one cluster and an optimum position of the object model with respect to the cluster being determined, and wherein a correction of false assignments of points is carried out by means of the matched object model. A classifier, trained by means of at least one exemplary object, is used to generate an attention map from at least one of the images. A number and/or a location probability of at least one object, which is similar to the exemplary object, is determined in the image using the attention map, and the attention map is taken into account in the clustering method and/or in the model matching.

摘要翻译： 本发明涉及一种用于将对象模型与三维点云相匹配的方法，其中通过立体声方法从两个图像生成点云，并将聚类方法应用于点云，以便识别点属性 分配一个群，其中随后执行模型匹配，其中至少一个对象模型被叠加在至少一个群集上，并且所述对象模型相对于所述群集的最佳位置被确定，并且其中， 点通过匹配的对象模型进行。 通过至少一个示例性对象训练的分类器被用于从至少一个图像生成注意力图。 使用关注图在图像中确定与示例对象类似的至少一个对象的数量和/或位置概率，并且在聚类方法和/或模型中考虑关注图 匹配。

公开(公告)号：US20100310154A1

公开(公告)日：2010-12-09

申请号：US12756611

申请日：2010-04-08

申请人： Bjoern Barrois ,  Lars Krueger ,  Christian Woehler

发明人： Bjoern Barrois ,  Lars Krueger ,  Christian Woehler

IPC分类号： G06K9/00

CPC分类号： G01B11/245 ,  G01C11/06 ,  G06K9/00214 ,  G06T7/30 ,  G06T7/593 ,  G06T2200/04

摘要： The invention relates to a method for matching an object model to a three-dimensional point cloud, wherein the point cloud is generated from two images by means of a stereo method and a clustering method is applied to the point cloud in order to identify points belonging to respectively one cluster, wherein model matching is subsequently carried out, with at least one object model being superposed on at least one cluster and an optimum position of the object model with respect to the cluster being determined, and wherein a correction of false assignments of points is carried out by means of the matched object model. A classifier, trained by means of at least one exemplary object, is used to generate an attention map from at least one of the images. A number and/or a location probability of at least one object, which is similar to the exemplary object, is determined in the image using the attention map, and the attention map is taken into account in the clustering method and/or in the model matching.

摘要翻译： 本发明涉及一种用于将对象模型与三维点云相匹配的方法，其中通过立体声方法从两个图像生成点云，并将聚类方法应用于点云，以便识别点属性 分配一个群，其中随后执行模型匹配，其中至少一个对象模型被叠加在至少一个群集上，并且所述对象模型相对于所述群集的最佳位置被确定，并且其中， 点通过匹配的对象模型进行。 通过至少一个示例性对象训练的分类器被用于从至少一个图像生成注意力图。 使用关注图在图像中确定与示例对象类似的至少一个对象的数量和/或位置概率，并且在聚类方法和/或模型中考虑关注图 匹配。