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    MULTI-VIEW 3D OBJECT RECOGNITION FROM A POINT CLOUD AND CHANGE DETECTION
    1.
    发明申请
    MULTI-VIEW 3D OBJECT RECOGNITION FROM A POINT CLOUD AND CHANGE DETECTION 有权
    从一个点云的多视图3D对象识别和更改检测

    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。

    THREE-DIMENSIONAL POINT PROCESSING AND MODEL GENERATION
    2.
    发明申请
    THREE-DIMENSIONAL POINT PROCESSING AND MODEL GENERATION 有权
    三维点处理和模型生成

    公开(公告)号：US20140098094A1

    公开(公告)日：2014-04-10

    申请号：US13833078

    申请日：2013-03-15

    申请人： Ulrich NEUMANN ,  Suya YOU ,  Rongqi QIU ,  Guan PANG ,  Jing HUANG ,  Luciano NOCERA

    发明人： Ulrich NEUMANN ,  Suya YOU ,  Rongqi QIU ,  Guan PANG ,  Jing HUANG ,  Luciano NOCERA

    IPC分类号： G06T17/10

    CPC分类号： G06T17/10 ,  G06K9/00214 ,  G06T2210/56

    摘要： A scene point cloud is processed and a solution to an inverse-function is determined to determine its source objects. A primitive extraction process and a part matching process are used to compute the inverse function solution. The extraction process estimates models and parameters based on evidence of cylinder and planar geometry in the scene. The matching process matches clusters of 3D points to models of parts from a library. A selected part and its associated polygon model is used to represent the point cluster. Iterations of the extraction and matching processes complete a 3D model for a complex scene made up of planes, cylinders, and complex parts from the parts library. Connecting regions between primitives and/or parts are processed to determine their existence and type. Constraints may be used to ensure a connected model and alignment of its components.

    摘要翻译： 处理场景点云并确定反函数的解决方案以确定其源对象。 使用原始提取过程和零件匹配过程来计算反函数解。 提取过程基于场景中圆柱体和平面几何的证据来估计模型和参数。 匹配过程将3D点的集合与库中的零件模型相匹配。 所选部分及其相关联的多边形模型用于表示点集群。 提取和匹配过程的迭代完成了由零件库中的平面，圆柱体和复杂零件组成的复杂场景的3D模型。 处理原语和/或部分之间的连接区域以确定其存在和类型。 约束可用于确保连接的模型和其组件的对齐。