Generic surface feature extraction from a set of range data
First Claim
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1. A method comprising:
- receiving a three-dimensional set of range data including a plurality of points from one or more range finders;
extracting one or more surface features, wherein extracting includes;
segmenting the set of range data into a plurality of surfaces based on one or more edges;
selecting one or more of the plurality of surfaces as the one or more surface features; and
describing the one or more surface features based on a generic descriptor that can describe both planar and non-planar surface features; and
using the one or more surface features to calculate one of a relative angle and orientation between the set of range data and at least one other set of range data, a rotation and translation of an object in the set of range data with respect to the object in at least one other set of range data, a rotation and translation between the set of range data with and at least one other set of range data, or a navigation solution based on the set of range data and at least one other set of range data.
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Abstract
An example embodiment includes a method including receiving a three-dimensional set of range data including a plurality of points from one or more range finders. The method also includes extracting one or more surface features. Extracting includes segmenting the set of range data into a plurality of surfaces based on one or more edges, selecting one or more of the plurality of surfaces as the one or more surface features, and describing the one or more surface features based on a generic descriptor that can describe both planar and non-planar surface features.
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Citations
20 Claims
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1. A method comprising:
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receiving a three-dimensional set of range data including a plurality of points from one or more range finders; extracting one or more surface features, wherein extracting includes; segmenting the set of range data into a plurality of surfaces based on one or more edges; selecting one or more of the plurality of surfaces as the one or more surface features; and describing the one or more surface features based on a generic descriptor that can describe both planar and non-planar surface features; and using the one or more surface features to calculate one of a relative angle and orientation between the set of range data and at least one other set of range data, a rotation and translation of an object in the set of range data with respect to the object in at least one other set of range data, a rotation and translation between the set of range data with and at least one other set of range data, or a navigation solution based on the set of range data and at least one other set of range data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A device to provide navigation information, the device comprising:
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one or more navigation sensors including at least one range finder; one or more processing devices coupled to the one or more navigation sensors; one or more memory devices coupled to the one or more processing devices, the one or more memory devices including instructions which, when executed by the one or more processing devices cause the one or more processing devices to; receive a first and a second set of range data from the at least one range finder; segment the first set of range data into a first one or more surfaces based on one or more edges in the first set of range data; segment the second set of range data into a second one or more surfaces based one or more edges in the second set of range data; extract a first one or more surface features based on the first one or more surfaces, wherein extract a first one or more surface features includes both planar and non-planar surface features if present; extract a second one or more surface features based on the second one or more surfaces, wherein extract a second one or more surface features includes both planar and non-planar surface features if present; identify a plurality of features from the first set of range data that match features from the second set of range data; and calculate a navigation solution based on the features from the first set of range data that match features from the second set of range data. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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19. A processor-readable medium including instructions which, when executed by a processor, cause the processor to:
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receive a first and a second set of range data from the at least one range finder; segment the first and second sets of range data into a first and second one or more surfaces based on one or more edges in the first and second sets of range data; extract one or more surface features based on the first and second one or more surfaces, wherein extract one or more surface features includes describe a surface feature using one of geometric or statistical quantities; identify a plurality of features from the first set of range data that match features from the second set of range data; and calculate a navigation solution based on the features from the first set of range data that match features from the second set of range data. - View Dependent Claims (20)
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Specification