System and method for determining the 3d - surface features and irregularities on an object

摘要

The present invention constitutes a system and a method for determining the location and the characteristics of certain surface features, the increased or recessed regions with respect to a smooth surrounding area on an object comprises. A filter acts on a distance image of the scene. A filter defined a ring or a different circumferential shape in order to each pixel, in which a best - fit - surface is created. A normal to the pixel makes it possible, to derive a local height distance. The distance is, for the production of a height deviation image of the object is used, with the ridge, depressions or other heights displacement features can be determined. The humps filter may be for searching of regions on a surface with minimum irregularities by mapping of such irregularities on a grid pattern and then ties evaluating the raster be used, in order to produce a cost function. Regions with minimum costs are acceptable candidates for the application of labels and other objects, in which a smooth surface is desired.