Systems and methods for extracting planar features, matching the planar features, and estimating motion from the planar features
US8340400B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 6, 2009 |
| Grant date | Dec 25, 2012 |
| Priority date | — |
| Expiry date | Feb 20, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/10028
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method of controlling an actuator based on a set of three-dimensional (3D) data points is provided. The method includes obtaining a first set of 3D data points for a scene and a second set of 3D data points for a scene with a sensor. At least a first set of planar features is extracted from the first set of 3D data point. At least a second set of planar features is extracted from the second set of 3D data points. A motion is determined between the first set of 3D data points and the second set of 3D data points based on a rotation and a translation from the at least a first set to the at least a second set. At least one actuator is controlled based on the motion.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.