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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

In the example illustrated in FIG. 4A, the point cloud 210 may include a variable number of data points (e.g., 10,000<n<500,000) and the system 100 may process the point cloud 210 using fixed basis points 220 having a first number of data points (e.g., k=1024). Thus, the distance values 420 may include the first number of data points (e.g., 1024 distance values) and the DenseNet 430 may process the distance values 420 to generate the high resolution mesh 440, which includes a second number of data points (e.g., 6890 data points). Each data point in the high resolution mesh 440 may be represented using three channels, which correspond to a three-dimensional coordinate system (e.g., (x, y, z) coordinates).

While FIG. 4A illustrates the fixed basis points 220 having the first number of data points (e.g., 1024) and the high resolution mesh 440 having the second number of data points (e.g., 6890), this is intended to conceptually illustrate a single example and the disclosure is not limited thereto. For example, the second number of data points is illustrated because many body model templates are configured with 6890 3D data points, with each point indicating a specific position on the human body. However, the disclosure is not limited thereto and the fixed basis points 220 and/or the high resolution mesh 440 may include any number of data points without departing from the disclosure.

權(quán)利要求

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