3D 3D SYSTEM AND METHOD FOR IMPROVED SCORING OF 3D POSES AND SPURIOUS POINT REMOVAL IN 3D IMAGE DATA

摘要

The present invention provides a system and a method of estimating the degree of match of 3D alignment poses of a runtime 3D point cloud to a trained model 3D point cloud. The method of the present invention comprises a step of scoring match of candidate poses of the runtime 3D point cloud to the trained model 3D point cloud, the step which includes a visibility check comprising the following steps of: (a) receiving an optical center of a 3D camera; (b) receiving the trained model 3D point cloud; (c) receiving the runtime 3D point cloud; and (d) forming a plurality of lines with a plurality of 3D points within the trained model or the runtime 3D point cloud in the runtime candidate poses from the optical center. Accordingly, the method determines whether to exclude or include the 3D points in the scoring step based on positions of the 3D points according to each line.