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Rapid point cloud alignment and classification with basis set learning

專利號
US11176693B1
公開日期
2021-11-16
申請人
Amazon Technologies, Inc.（US WA Seattle）
發(fā)明人
Javier Romero Gonzalez-Nicolas; Sergey Prokudin; Christoph Lassner
IPC分類
G06T7/50; G06T17/00; G06K9/62
技術(shù)領(lǐng)域
cloud,data,point,may,mesh,points,basis,or,e.g,generate
地域： WA WA Seattle

摘要

A system configured to process an input point cloud, which represents an object using unstructured data points, to generate a feature vector that has an ordered structure and a fixed length. The system may process the input point cloud using a basis point set to generate the feature vector. For example, for each basis point in the basis point set, the system may identify a closest data point in the point cloud data and store a distance value or other information associated with the closest data point in the feature vector. The system may process the feature vector using a trained model to generate output data, such as performing point cloud registration to generate mesh data, point cloud classification to generate classification data, and/or the like.

說明書

d ? ( b k , x ij ) ] T , X i B ∈ k ? ? ? d [ 5 ]
where XiB is the feature vector, bi denotes a basis point, xij denotes a data point in the point cloud data, k denotes the fixed number of basis points, and d=3 for 3D point cloud data.

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