Method for finding important changes in 3D point clouds
US9558564B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | May 1, 2015 |
| Grant date | Jan 31, 2017 |
| Priority date | — |
| Expiry date | May 1, 2035 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/20068
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A motion detector comprising a sensor apparatus and a calculator arranged for: generating first and second successive frames comprising each a 3-D cloud of points, wherein each point represents a position in space of a surface of at least an object in the field of vision of said sensor apparatus; transforming each of the first and second frames by: mapping each cloud of 3-D points into a 2-D grid of cells associated each to a sequence of predetermined volumes; and associating to each cell of the 2-D grid of cells a sequence of the lists of the points contained in corresponding volumes of the sequence of predetermined volumes; comparing the sequences of lists associated to the same cells of the 2-D grids obtained for the first and second frames; and indicating that motion occurred based on the sequence of lists being different in the first and second frames.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.