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System and method for improved scoring of 3D poses and spurious point removal in 3D image data
System and method for improved scoring of 3D poses and spurious point removal in 3D image data
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机译:用于改善3D姿势得分和3D图像数据中的虚假点去除的系统和方法
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摘要
This invention provides a system and method for estimating match of a 3D alignment pose of a runtime 3D point cloud relative to a trained model 3D point cloud. It includes scoring a match of a candidate pose of the runtime 3D point cloud relative to the trained model 3D point cloud, including a visibility check that comprises (a) receiving a 3D camera optical center (b) receiving the trained model 3D point cloud; (c) receiving the runtime 3D point cloud; and (d) constructing a plurality of line segments from the optical center to a plurality of 3D points in the 3D point cloud at the runtime candidate pose. A system and method for determining an accurate representation of a 3D imaged object by omitting spurious points from a composite point cloud based on the presence or absence of such points in a given number of point clouds is also provided.
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