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公开(公告)号：US09600736B2
公开(公告)日：2017-03-21
申请号：US14753006
申请日：2015-06-29
发明人： Noel S. Kropf , Mattias Marder , Charles F Wiecha
CPC分类号： G06K9/46 , G06K9/3275 , G06K9/4604 , G06K9/52 , G06K2009/363 , G06T5/006 , G06T7/0051 , G06T7/50 , G06T7/73 , G06T2207/10004 , G06T2207/10008 , G06T2207/10028 , G06T2207/20076 , G06T2207/30176 , G06T2207/30244 , H04N5/44
摘要： A computer-implemented method, computerized apparatus and computer program product for detecting an object's pose using a depth image. An image of an object in a scene and depth data of the scene are obtained. At least one pose hypothesis, representing a hypothesized plane, are determined based on the image. An incidence plane, hypothesized to be coplanar with the object, is determined based on the depth data. A relation indicating a level of consistency is determined between the hypothesized plane and the incidence plane for the at least one pose hypothesis.
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公开(公告)号：US10303969B2
公开(公告)日：2019-05-28
申请号：US15333206
申请日：2016-10-25
发明人： Noel S. Kropf , Mattias Marder , Charles F Wiecha
IPC分类号： G06T7/00 , G06K9/46 , G06K9/52 , G06T7/50 , H04N5/44 , G06K9/32 , G06T5/00 , G06T7/73 , G06K9/36
摘要： A computer-implemented method, computerized apparatus and computer program product for detecting an object's pose using a depth image. An image of an object in a scene and depth data of the scene are obtained. At least one pose hypothesis, representing a hypothesized plane, are determined based on the image. An incidence plane, hypothesized to be coplanar with the object, is determined based on the depth data. A relation indicating a level of consistency is determined between the hypothesized plane and the incidence plane for the at least one pose hypothesis.
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