Registration and comparison of three-dimensional objects

摘要

Information of different scans of physical objects may require comparison, for example to determine if the scans are of the same object or if an object has changed, or better information for a three dimensional model may be desired. Different scans of physical objects may be compared by determining lines or planes tangent to a surface at a discrete number of points, registering three dimensional information provided by the scans using the tangent lines or planes, and determining a measure of discrepancy between the surfaces. Three dimensional information of different scans of the same object may also be merged after determining lines or planes tangent to a surface at a discrete number of points and performing registration and merging.

主权项

1. A method of object recognition using three-dimensional information, said method comprising the steps of:
determining, using a set of three-dimensional information, one of:
two or more first n-tangents, where n is greater than or equal to 2, and wherein an n-tangent is a line or plane generally tangent to a surface described by the three dimensional information in a vicinity of at least n points; andone or more first n-tangents, where n is greater than or equal to 3; receiving a second set of data; determining, using said second set of data, one of:
two or more second n-tangents, where n is greater than or equal to 2; andone or more second n-tangents, where n is greater than or equal to 3; registering said set of three-dimensional information and said second set of data to a common coordinate system using said first n-tangents and said second n-tangents; determining a measure of discrepancy between said set of three-dimensional information and said second set of data; and merging said second set of data with said set of three-dimensional information to generate one or more of:
a more complete three-dimensional information; anda more complete second set of data; when said measure of discrepancy is less than a pre-defined magnitude.