Adaptive 3D to 2D projection for different height slices and extraction of robust morphological features for 3D object recognition

摘要

Described is a system for adaptive three-dimensional (3D) to two-dimensional (2D) projection for different height slices and extraction of morphological features. Initially, the system receives 3D point cloud data. Next, an image pixel number to point cloud number ratio is selected. Thereafter, an image row and image column are selected to identify desired height slices. The 3D point cloud is then accumulated on the desired height slices to generate a plurality of 2D height slices.