System and method for 3D object recognition using range and intensity
First Claim
1. A method of choosing pose-invariant interest points on a three-dimensional (3D) image, comprising the steps of transforming the intensity image at a plurality of image locations so that the local region about each image location appears approximately as it would appear if it were viewed in a standard pose with respect to a camera;
- and applying one or more interest point operators to the transformed image.
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Accused Products
Abstract
A system and method for performing object and class recognition that allows for wide changes of viewpoint and distance of objects is disclosed. The invention provides for choosing pose-invariant interest points of a three-dimensional (3D) image, and for computing pose-invariant feature descriptors of the image. The system and method also allows for the construction of three-dimensional (3D) object and class models from the pose-invariant interest points and feature descriptors of previously obtained scenes. Interest points and feature descriptors of a newly acquired scene may be compared to the object and/or class models to identify the presence of an object or member of the class in the new scene.
191 Citations
29 Claims
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1. A method of choosing pose-invariant interest points on a three-dimensional (3D) image, comprising the steps of
transforming the intensity image at a plurality of image locations so that the local region about each image location appears approximately as it would appear if it were viewed in a standard pose with respect to a camera; - and
applying one or more interest point operators to the transformed image. - View Dependent Claims (2, 3, 4, 5)
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6. A method of computing pose-invariant feature descriptors of a three-dimensional (3D) image, comprising the steps of
choosing one or more interest points on the intensity image; -
transforming the intensity image so that the local region about each interest point appears approximately as it would appear if it were viewed in a standard pose with respect to a camera; and
computing a feature descriptor comprising a function of the intensity image in the local region about each interest point in the transformed image. - View Dependent Claims (7, 8, 9, 10)
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11. The method of 6 wherein the feature descriptor further comprises a function of the local range image as it would appear if it were viewed in a standard pose with respect to the camera.
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12. The method of 6 wherein the feature descriptor further comprises a function of the 3D pose of the interest point.
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13. The method of 6 wherein the feature descriptor further comprises a function of the 3D pose of one or more other interest points of the image.
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14. The method of 6 wherein the step of computing a feature descriptor further comprises computing a dimensionality reduction in the function of the local region.
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15. A method for recognizing objects in an observed scene, comprising the steps of
acquiring a three-dimensional (3D) image of the scene; -
choosing pose-invariant interest points by applying one or more interest point operators to the intensity component of the image as it would appear if it were viewed in a standard pose with respect to a camera. computing pose-invariant feature descriptors of the intensity image at the interest points, constructing a database comprising 3D object models, each object model comprising a set of pose-invariant feature descriptors of one or more images of an object; and
comparing the pose-invariant feature descriptors of the scene image to pose-invariant feature descriptors of the object models. - View Dependent Claims (17, 18, 19)
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16. A method for recognizing objects in an observed scene, comprising the steps of
acquiring a three-dimensional (3D) image of the scene; -
choosing pose-invariant interest points in the image;
computing pose-invariant feature descriptors of the image at the interest points, each feature descriptor comprising a function of the local intensity component of the 3D image as it would appear if it were viewed in a standard pose with respect to a camera;
constructing a database comprising 3D object models, each object model comprising a set of pose-invariant feature descriptors of one or more images of an object; and
comparing the pose-invariant feature descriptors of the scene image to pose-invariant feature descriptors of the object models.
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20. A method for computing three-dimensional (3D) class models, comprising the steps of
acquiring 3D images of objects with class labels; -
choosing pose-invariant interest points in the images by applying one or more interest point operators to the intensity component of the images as they would appear if viewed in a standard pose with respect to a camera;
computing pose-invariant object feature descriptors at the interest points; and
computing functions of the pose-invariant object feature descriptors and the class labels. - View Dependent Claims (22, 23, 24)
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21. A method for computing three-dimensional (3D) class models, comprising the steps of
acquiring 3D images of objects with class labels; -
choosing pose-invariant interest points in the images;
computing pose-invariant feature descriptors at the interest points, each feature descriptor comprising a function of the local intensity component of the 3D image as it would appear if it were viewed in a standard pose with respect to a camera; and
computing functions of the pose-invariant feature descriptors and the class labels.
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25. A method for recognizing instances of classes in an observed scene, comprising the steps of:
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acquiring a three-dimensional (3D) image of a scene;
choosing pose-invariant interest points in the image by applying one or more interest point operators to the intensity component of the image as it would appear if it were viewed in a standard pose with respect to a camera;
computing pose-invariant feature descriptors at the interest points;
constructing a database comprising 3D class models; and
comparing pose-invariant feature descriptors of the scene image to the 3D class models. - View Dependent Claims (26, 27, 28)
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29. A method for recognizing instances of classes in an observed scene, comprising the steps of:
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acquiring a three-dimensional (3D) image of a scene;
choosing pose-invariant interest points in the image;
computing pose-invariant feature descriptors at the interest points, each feature descriptor comprising a function of the local intensity component of the 3D image as it would appear if it were viewed in a standard pose with respect to a camera;
constructing a database comprising 3D class models; and
comparing pose-invariant feature descriptors of the scene image to the 3D class models.
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Specification