Tracking Poses of 3D Camera Using Points and Planes
First Claim
1. A method for registering data using a set of primitives, wherein the data have three dimensions (3D) and the primitives include points and planes, comprising the steps of:
- selecting a first set of primitives from the data in a first coordinate system, wherein the first set of primitives includes at least three primitives and at least one plane;
predicting a transformation from the first coordinate system to a second coordinate system;
transforming the first set of primitives to the second coordinate system using the transformation;
determining a second set of primitives according to the first set of primitives transformed to the second coordinate system; and
registering the second coordinate system with the first coordinate system using the first set of primitives in the first coordinate system and the second set of primitives in the second coordinate system corresponding to each other, wherein the steps are performed in a processor.
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Abstract
A method registers data using a set of primitives including points and planes. First, the method selects a first set of primitives from the data in a first coordinate system, wherein the first set of primitives includes at least three primitives and at least one plane. A transformation is predicted from the first coordinate system to a second coordinate system. The first set of primitives is transformed to the second coordinate system using the transformation. A second set of primitives is determined according to the first set of primitives transformed to the second coordinate system. Then, the second coordinate system is registered with the first coordinate system using the first set of primitives in the first coordinate system and the second set of primitives in the second coordinate system. The registration can he used to track a pose of a camera acquiring the data.
79 Citations
15 Claims
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1. A method for registering data using a set of primitives, wherein the data have three dimensions (3D) and the primitives include points and planes, comprising the steps of:
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selecting a first set of primitives from the data in a first coordinate system, wherein the first set of primitives includes at least three primitives and at least one plane; predicting a transformation from the first coordinate system to a second coordinate system; transforming the first set of primitives to the second coordinate system using the transformation; determining a second set of primitives according to the first set of primitives transformed to the second coordinate system; and registering the second coordinate system with the first coordinate system using the first set of primitives in the first coordinate system and the second set of primitives in the second coordinate system corresponding to each other, wherein the steps are performed in a processor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification