Visualization of 3D image data
AssigneeSick AG
InventorsDavide Impera, Thomas Neumann
Life of this patent
Estimating the term…
Abstract
A method for visualizing 3D image data of a 3D sensor (10) with a plurality of 3D points which form a lateral 2D arrangement with a respective depth value, wherein connected segments (32) are formed from connected 3D points and the segments (32) are displayed, and wherein two respective 3D points are connected in the same segment (32) if they are laterally adjacent and also differ in their depth value by at most a depth threshold (z).
Claims19
A method for visualizing 3D image data of a 3D sensor (10), the 3D sensor (10) being a safe sensor in accordance with a safety standard for machine safety or electro-sensitive protective devices, the 3D image data having a plurality of 3D points which form a lateral 2D arrangement with a respective depth value, the method comprising the steps of:
- forming connected segments (32) from connected 3D points;
- displaying the connected segments (32);
- connecting two respective 3D points in the same one of the connected segments (32) when they are laterally adjacent and also differ in their depth value by at most a depth threshold (z);
- generating a shadowing mesh (36) for shadowing boundaries (38);
- and
- displaying the shadowing mesh (36), wherein the shadowing mesh (36) displays occluded regions where the 3D sensor (10) is blind.
An optoelectronic 3D sensor (10) comprising:
- at least one light receiver (16a-b) for acquiring 3D image data from a monitoring region (12);
- a control and evaluation unit (24) which is configured for a method of visualizing acquired 3D image data with a plurality of 3D points which form a lateral 2D arrangement with a respective depth value, wherein connected segments (32) are formed from connected 3D points and the connected segments (32) are displayed, and wherein two respective 3D points are connected in the same connected segment (32) when they are laterally adjacent and also differ in their depth value by at most a depth threshold (z), wherein the control and evaluation unit (24) is further configured to generate a shadowing mesh (36) for shadowing boundaries (38);
- and
- a display for displaying the 3D image data, wherein the 3D sensor (10) is a safe sensor in accordance with a safety standard for machine safety or electro-sensitive protective devices, and wherein the display further displays the shadowing mesh (36), wherein the shadowing mesh (36) displays occluded regions where the optoelectronic 3D sensor (10) is blind.
Dependencies are inferred from the claim text.