Adaptive 3D to 2D projection for different height slices and extraction of robust morphological features for 3D object recognition
AssigneeHRL Laboratories, LLC
InventorsHai-Wen Chen, Yuri Owechko
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Abstract
Described is a system for adaptive three-dimensional (3D) to two-dimensional (2D) projection for different height slices and extraction of morphological features. Initially, the system receives 3D point cloud data. Next, an image pixel number to point cloud number ratio is selected. Thereafter, an image row and image column are selected to identify desired height slices. The 3D point cloud is then accumulated on the desired height slices to generate a plurality of 2D height slices.
Claims15
A system for adaptive three-dimensional (3D) to two-dimensional (2D) projection for different height slices and extraction of morphological image features, comprising:
- one or more processors and a memory, the memory having instructions encoded thereon, such that upon execution of the instructions, the one or more processors perform operations of:
- receiving the 3D point cloud data;
- selecting an image pixel number to point cloud number ratio;
- determining image row and image column numbers for desired height slices;
- and
- accumulating the 3D point cloud on the desired height slices to generate a plurality of 2D height slices.
A computer program product for adaptive three-dimensional (3D) to two-dimensional (2D) projection for different height slices and extraction of morphological features, comprising:
- computer-readable instructions stored on a non-transitory computer-readable medium that are executable by a computer having a processor, such that upon execution by the processor, the computer performs operations of:
- receiving 3D point cloud data;
- selecting an image pixel number to point cloud number ratio;
- determining image row and image column numbers for desired height slices;
- and
- accumulating the 3D point cloud on the desired height slices to generate a plurality of 2D height slices.
A computer implemented method for adaptive three-dimensional (3D) to two-dimensional (2D) projection for different height slices and extraction of morphological features, comprising:
- causing one or more processors to execute instructions encoded on a non-transitory memory, such that upon execution of the instructions, the one or more processors performs operations of:
- receiving 3D point cloud data;
- selecting an image pixel number to point cloud number ratio;
- determining image row and image column numbers for desired height slices;
- and
- accumulating the 3D point cloud on the desired height slices to generate a plurality of 2D height slices.
Dependencies are inferred from the claim text.