SYSTEMS AND METHODS FOR EXTRACTING PLANAR FEATURES, MATCHING THE PLANAR FEATURES, AND ESTIMATING MOTION FROM THE PLANAR FEATURES
First Claim
1. A method of controlling an actuator based on a set of three-dimensional (3D) data points, the method comprising:
- obtaining a first set of 3D data points for a scene and a second set of 3D data points for a scene with a sensor;
extracting at least a first set of planar features from the first set of 3D data point;
extracting at least a second set of planar features from the second set of 3D data points;
determining a motion between the first set of 3D data points and the second set of 3D data points based on a rotation and a translation from the at least a first set to the at least a second set; and
controlling at least one actuator based on the motion.
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Abstract
A method of controlling an actuator based on a set of three-dimensional (3D) data points is provided. The method includes obtaining a first set of 3D data points for a scene and a second set of 3D data points for a scene with a sensor. At least a first set of planar features is extracted from the first set of 3D data point. At least a second set of planar features is extracted from the second set of 3D data points. A motion is determined between the first set of 3D data points and the second set of 3D data points based on a rotation and a translation from the at least a first set to the at least a second set. At least one actuator is controlled based on the motion.
62 Citations
20 Claims
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1. A method of controlling an actuator based on a set of three-dimensional (3D) data points, the method comprising:
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obtaining a first set of 3D data points for a scene and a second set of 3D data points for a scene with a sensor; extracting at least a first set of planar features from the first set of 3D data point; extracting at least a second set of planar features from the second set of 3D data points; determining a motion between the first set of 3D data points and the second set of 3D data points based on a rotation and a translation from the at least a first set to the at least a second set; and controlling at least one actuator based on the motion. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A program product comprising a processor-readable medium on which program instructions are embodied, wherein the program instructions are operable to:
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obtain a first set of 3D data points for a scene and a second set of 3D data points for a scene with a sensor; extract at least a first set of planar features from the first set of 3D data point; extract at least a second set of planar features from the second set of 3D data points; determine a motion between the first set of 3D data points and the second set of 3D data points based on a rotation and a translation from the at least a first set to the at least a second set; and display a position and orientation of the vehicle on a display device based on the determined motion. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A system comprising:
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a sensor operable to obtain a first set of three-dimensional (3D) data points for a scene and a second set of 3D data points for a scene; and a processing unit coupled to the sensor; a storage medium communicatively coupled to the processor from which the processor reads at least a portion of the software for execution thereby, wherein the software is configured to cause the processor to; extract at least a first set of planar features from the first set of 3D data point; extract at least a second set of planar features from the second set of 3D data points; determine a motion between the first set of 3D data points and the second set of 3D data points based on a rotation and a translation from the at least a first set to the at least a second set; and display a position and orientation of the vehicle on a display device based on the determined motion. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification