Voting-based pose estimation for 3D sensors
US8908913B2 · kind B2 · utility
7Cited by
4References
12Claims
0Family size
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Key dates
| Filing date | Dec 19, 2011 |
| Grant date | Dec 9, 2014 |
| Priority date | — |
| Expiry date | Mar 15, 2032 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30164
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A pose of an object is estimated by first defining a set of pair features as pairs of geometric primitives, wherein the geometric primitives include oriented surface points, oriented boundary points, and boundary line segments. Model pair features are determined based on the set of pair features for a model of the object. Scene pair features are determined based on the set of pair features from data acquired by a 3D sensor, and then the model pair features are matched with the scene pair features to estimate the pose of the object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.