METHOD FOR ADAPTING AN OBJECT MODEL TO A THREE-DIMENSIONAL POINT CLOUD

摘要

The invention relates to a method for adapting an object model (OM) to a three-dimensional point cloud (PW). According to said method, the point cloud (PW) is generated from two images (B1, B2) by means of a stereo method (S1) and a clustering method (S2) is applied to the point cloud (PW) to identify points that pertain to respective clusters (CL), and then a model adaptation (S3) is carried out. At least one object model (OM) is superposed to at least one cluster (CL) and an optimum position of the object model (OM) relative to th cluster (CL) is determined. A correction (S4) of mismatches of points is carried out using the adapted object model (OM). A classifier (KL), which is trained with an exemplary object (BO), is used to draw up a probability map (AM) from at least one of the images (B1, B2). Based on said probability map (AM) a number and/or location probability of at least one object (O) that is similar to the exemplary object (BO) is determined in the image (B1, B2) and the probability map (AM) is taken into consideration during the clustering method (S2) and/or during model adaptation (S3).