Recognition and pose determination of 3D objects in multimodal scenes

摘要

The invention provides a method for recognizing instances of a 3D object in 3D scene data and scene intensity data and for determining the 3D poses of said instances comprising the following steps: (a) providing 3D object data and obtaining object intensity data; (b) providing 3D scene data and scene intensity data; (c) extracting scene feature points from the intensity data; (d) selecting at least one reference point from the 3D scene data; (e) computing, for each selected reference point, pose candidates for the 3D object under the assumption that said reference point is part of the 3D object by maximizing the number of extracted scene feature points that are consistent with the 3D object under the given pose candidate; (f) computing a set of filtered poses from the pose candidates.

主权项

1. A method for recognizing instances of a 3D object in 3D scene data and scene intensity data and for determining the 3D poses of said instances comprising the following steps:
(a) providing 3D object data and obtaining object intensity data; (b) providing 3D scene data and scene intensity data; (c) extracting scene feature points from the scene intensity data; (d) selecting at least one reference point from the 3D scene data; (e) computing, for each selected reference point, pose candidates for the 3D object under the assumption that said reference point is part of the 3D object by maximizing the number of extracted scene feature points that are consistent with the 3D object under the given pose candidate; (f) computing a set of filtered poses from the pose candidates; wherein step (a) comprises the computation of a model from the 3D object data and object intensity data; wherein step (a) further comprises (a1) selecting at least one 3D sample point from the 3D object data; (a2) extracting 2D object feature points from the object intensity data; (a3) computing point pair descriptors that describe, for each pair of selected sample point and extracted object feature point, the two points and their relation; (a4) creating a model that stores the point pairs indexed by the point pair descriptor.