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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

As illustrated in FIG. 1, the device 110 may include or be communicatively coupled to a three-dimensional (3D) scanner 112 and, after receiving permission from the user 5, the device 110 may perform a 3D scan of the user 5. For example, the device 110 may receive input from the user 5 authorizing the device 110 to use the 3D scanner 112 to generate a point cloud 114 representing the user 5 and the device 110 may then generate the point cloud 114. The point cloud 114 may include a plurality of data points (e.g., n data points) that represent 3D coordinates associated with the user 5. While FIG. 1 illustrates the point cloud 114 corresponding to the user 5, the disclosure is not limited thereto and the point cloud 114 may correspond to an object, object(s), an environment, and/or the like without departing from the disclosure. As used herein, an object may correspond to any material thing that can be seen and touched. Examples of objects include a human, animal (e.g., pet, wild animal, etc.), household object (e.g., furniture, appliance, consumer product, etc.), interior structure (e.g., cabinetry, bookshelf, etc.), outdoor object (e.g., street sign, tree, etc.), exterior structure (e.g., building, shed, etc.), vehicle (e.g., car, motorcycle, etc.), object in proximity to a vehicle (e.g., object in proximity to an autonomous vehicle or drone), and/or the like, although the disclosure is not limited thereto.

權(quán)利要求

1
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