公开(公告)号：US20230153967A1

公开(公告)日：2023-05-18

申请号：US17903152

申请日：2022-09-06

Applicant: FARO Technologies, Inc.

Inventor： Denis Wohlfeld ,  Nithin Bhardwaj ,  Ilia Krets ,  Heiko Bauer

IPC: G06T5/50 ,  G06T7/10 ,  H04N13/25 ,  G06T7/00 ,  H04N5/232

CPC classification number: G06T5/50 ,  G06T7/10 ,  H04N13/25 ,  G06T7/0002 ,  H04N5/23238 ,  G06T2207/10024 ,  G06T2207/20084 ,  G06T2207/10028 ,  G06T2207/30168

Abstract: A system includes a three-dimensional (3D) scanner, a camera, and one or more processors coupled with the 3D scanner and the camera. The processors capture a frame that includes a point cloud comprising plurality of 3D scan points and a 2D image. A 3D scan point represents a distance of a point in a surrounding environment from the 3D scanner. A pixel represents a color of a point in the surrounding environment. The processors identify, using a machine learning model, a subset of pixels that represents a reflective surface in the 2D image. Further, for each pixel in the subset of pixels, one or more corresponding 3D scan points is determined. An updated point cloud is created in the frame by removing the corresponding 3D scan points from the point cloud.