Patent · US Active

Method and apparatus for pose planar constraining on the basis of planar feature extraction

US11182644B2 · kind B2 · utility

0Cited by

9References

8Claims

0Family size

Assignee

Beijing Institute of Technology · CN

Inventors

Xiaopeng Chen · Plano, US
Qiang Huang · Austin, US
Siyuan Gou · Beijing, CN
Zhangguo Yu · Beijing, CN
Xuechao Chen · Beijing, CN
Junyao Gao · Beijing, CN
Yang Xu · Wenhe, CN

Key dates

Filing date	Dec 23, 2019
Grant date	Nov 23, 2021
Priority date	—
Expiry date	Dec 23, 2039

Classification

Technology area (CPC G)Physics
CPC primaryG06T2207/20084
WIPO fieldComputer technology
WIPO sectorElectrical engineering

Abstract

The present application provides a method and apparatus for pose planar constraining on the basis of planar feature extraction, wherein the method includes: inputting the acquired RGB color image and point cloud image into spatial transformation network to obtain two-dimensional and three-dimensional affine transformation matrixes; extracting the planar features of the transformed two-dimensional affine transformation matrix and three-dimensional affine transformation matrix; inputting the acquired planar features into the decoder and obtain the pixel classification of the planar features; clustering the vectors corresponding to the planar pixels to obtain the segmentation result of the planar sample; using planar fitted by the segmentation result to make planar constraint to the pose calculated by vision algorithm. The application combines RGB-D information to perform plane extraction, and designs a new spatial transformation network to transform two-dimensional color image and three-dimensional point cloud image.

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.