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公开(公告)号：US20130156262A1
公开(公告)日：2013-06-20
申请号：US13329493
申请日：2011-12-19
IPC分类号： G06K9/00
CPC分类号： G06T7/75 , G06T7/521 , G06T2207/30108 , G06T2207/30164
摘要： A pose of an object is estimated by first defining a set of pair features as pairs of geometric primitives, wherein the geometric primitives include oriented surface points, oriented boundary points, and boundary line segments. Model pair features are determined based on the set of pair features for a model of the object. Scene pair features are determined based on the set of pair features from data acquired by a 3D sensor, and then the model pair features are matched with the scene pair features to estimate the pose of the object.
摘要翻译： 通过首先将一组成对特征定义为几何图元的对来估计对象的姿态，其中几何基元包括定向表面点，定向边界点和边界线段。 基于对象模型的对特征集合确定模型对特征。 场景对特征是根据3D传感器获取的数据对的一组特征确定的，然后将模型对特征与场景对特征相匹配，以估计对象的姿态。
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公开(公告)号：US08908913B2
公开(公告)日：2014-12-09
申请号：US13329493
申请日：2011-12-19
IPC分类号： G06K9/00
CPC分类号： G06T7/75 , G06T7/521 , G06T2207/30108 , G06T2207/30164
摘要： A pose of an object is estimated by first defining a set of pair features as pairs of geometric primitives, wherein the geometric primitives include oriented surface points, oriented boundary points, and boundary line segments. Model pair features are determined based on the set of pair features for a model of the object. Scene pair features are determined based on the set of pair features from data acquired by a 3D sensor, and then the model pair features are matched with the scene pair features to estimate the pose of the object.
摘要翻译： 通过首先将一组成对特征定义为几何图元的对来估计对象的姿态，其中几何基元包括定向表面点，定向边界点和边界线段。 基于对象模型的对特征集合确定模型对特征。 场景对特征是根据3D传感器获取的数据对的一组特征确定的，然后将模型对特征与场景对特征相匹配，以估计对象的姿态。
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