Distance-independent keypoint detection
US11176409B2 · kind B2 · utility
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18Claims
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Key dates
| Filing date | Dec 20, 2016 |
| Grant date | Nov 16, 2021 |
| Priority date | — |
| Expiry date | Jun 6, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V40/113
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Described herein is a method for detecting keypoints in three-dimensional images in which a three-dimensional image of a scene captured by a depth sensing imaging system is processed using a distance-independent keypoint filter. Keypoints are derived from the three-dimensional image by determining a mean shift field and using x- and y-components of the mean shift field to derive intersections of 0-isolines thereof. Positive and negative keypoints or nodes are connected to one another, positive to positive and negative to negative, to form a keygraph structure.
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