Method and device for computer-aided segmentation of an environment into individual objects

US8559680B2 · kind B2 · utility

Assignee

• Hochschule München · DE

Inventors

• Claudius Schnorr · Mannheim, DE
• Peter Krzystek · Munich, DE
• Josef Reitberger · Rinchnach, DE
• Volkan Oniz · Birkenhördt, DE

Key dates

• Filing date: Apr 2, 2009
• Grant date: Oct 15, 2013
• Expiry date: Jan 15, 2030

Classification

• Technology area (CPC G): Physics
• CPC primary: G01S7/487
• WIPO field: Measurement
• WIPO sector: Instruments

Abstract

The invention relates to a method for computer-aided segmentation of an environment into individual objects, in particular of a wood into individual trees, in which signals (SIG_R) backscattered by the objects are recorded by measurement technology, wherein the backscattered signals (SIG_R) result from the irradiation of the environment to be segmented with electromagnetic radiation. Furthermore, in the method according to the invention, spatial co-ordinates (x, y, z) of points which cause the backscattering and represent the object parts (X1, X2, . . . , X5) are determined from the backscattered signals (SIG_R), and a feature vector (f) is assigned to each of the points (P; P1, P2), which feature vector comprises at least the spatial co-ordinates (x, y, z) of the point in question (P; P1, P2). Then a distance measure (d) is determined for each of the feature vectors (f), which represents a similarity between the feature vectors (f) of two points (P; P1, P2). Finally the feature vectors (f) assigned to the points (P; P1, P2) are allocated to disjoint segments (A, B) in such a manner that a cost function (E) which takes into account the distance measures (d) of all the feature vecto…