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    • 5. 发明授权
    • Method for representing objects with concentric ring signature descriptors for detecting 3D objects in range images
    • 用于表示具有同心环签名描述符的对象的方法,用于检测范围图像中的3D对象
    • US08274508B2
    • 2012-09-25
    • US13026382
    • 2011-02-14
    • Fatih PorikliHien Nguyen
    • Fatih PorikliHien Nguyen
    • G06T15/00
    • G06K9/00214G06K9/6214
    • A 3D object is represented by a descriptor, wherein a model of the 3D object is a 3D point cloud. A local support for each point p in the 3D point cloud is located, and reference x, y, and z axes are generated for the local support. A polar grid is applied according to the references x, y, and z axes a along an azimuth and a radial directions on an xy plane centered on the point p such that each patch on the grid is a bin for a 2D histogram, wherein the 2D histogram is a 2D matrix F on the grid and each coefficient of the 2D matrix F corresponds to the patch on the grid. For each grid location (k, l), an elevation value F(k, l) is estimated by interpolating the elevation values of the 3D points within the patches to produce the descriptor for the point p.
    • 3D对象由描述符表示,其中3D对象的模型是3D点云。 定位在3D点云中的每个点p的本地支持,为本地支持生成参考x,y和z轴。 根据参考x,y和z轴a沿着位于点p上的xy平面上的方位角和径向方向施加极坐标网格,使得网格上的每个贴片是2D直方图的仓,其中, 2D直方图是网格上的2D矩阵F,2D矩阵F的每个系数对应于网格上的补丁。 对于每个网格位置(k,l),通过内插补片内的3D点的高程值来估计高程值F(k,l),以产生点p的描述符。