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 method for estimating the degree of match of a 3D alignment pose of a runtime 3D point cloud with respect to a trained model 3D point cloud. The present system and method comprises the 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) constructing a plurality of line segments from the optical center into a plurality of 3D points in the trained model or in the runtime 3D point cloud at the runtime candidate pose. scoring matches of candidate poses of the runtime 3D point cloud to the point cloud. Thereby, the system and method determines whether to exclude or include the 3D points in the scoring step based on the positions of the 3D points along each line segment.