公开(公告)号：US08442307B1

公开(公告)日：2013-05-14

申请号：US13100699

申请日：2011-05-04

申请人： Roy Anati ,  Dragomir D. Anguelov ,  David Martin

发明人： Roy Anati ,  Dragomir D. Anguelov ,  David Martin

IPC分类号： G06K9/00

CPC分类号： G06T7/73 ,  G06T7/38 ,  G06T2207/10016 ,  G06T2207/30241 ,  G06T2207/30244

摘要： A method and system are provided for image matching using an appearance augmented 3-D point cloud that includes receiving a first and second posed image, extracting image features from the first and second posed image, and comparing the extracted image features from the first posed image with the extracted image features from the second posed image. Next, a comparison is done to identify one or more matched features of the first and second posed images based on a feature appearance, where a grouping of the matched features of the first and second posed images is performed where the grouped matched features are associated with a first three-dimensional point. A position of the first three-dimensional point is identified based on a positional triangulation of the grouped matched features associated with the first three-dimensional point, and the first three-dimensional point is then augmented with the grouped matched features.

摘要翻译： 提供了一种用于使用外观增强的3-D点云进行图像匹配的方法和系统，其包括接收第一和第二姿态图像，从第一和第二姿势图像提取图像特征，以及将提取的图像特征与第一姿态图像进行比较 与来自第二姿势图像的提取的图像特征。 接下来，进行比较以基于特征外观来识别第一和第二姿态图像的一个或多个匹配特征，其中执行第一和第二姿势图像的匹配特征的分组，其中分组的匹配特征与 第一个三维点。 基于与第一三维点相关联的分组的匹配特征的位置三角测量来识别第一三维点的位置，然后利用分组的匹配特征增强第一三维点。