Three-dimentional plane panorama creation through hough-based line detection
US9836871B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jul 30, 2013 |
| Grant date | Dec 5, 2017 |
| Priority date | — |
| Expiry date | Jan 18, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2210/56
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for creating a plane panorama from point cloud data using Hough transformations is disclosed. The method involves converting the three-dimensional point cloud into a two-dimensional histogram with bins grouping neighboring points, and performing a Hough transformation on the histogram. The resulting transformed data is segmented and the method searches the segments iteratively for a major line, followed by lines that are orthogonal, diagonal, or parallel to the major line, and discards outlying data in each bin as lines are identified. The detected lines are connected to form planes, and the planes are assembled into a hole- and gap-filled panorama. The method may also use an algorithm such as a Random Sample Consensus (RANSAC) algorithm to detect a ground plane.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.