Pilz Gmbh & Co Kg.

Bjoern Barrois

Lars Krueger

Christian Woehler

The invention relates to a method for matching an object model to a three-dimensional point cloud, wherein the point cloud is generated from two images by means of a stereo method and a clustering method is applied to the point cloud in order to identify points belonging to respectively one cluster, wherein model matching is subsequently carried out, with at least one object model being superposed on at least one cluster and an optimum position of the object model with respect to the cluster being determined, and wherein a correction of false assignments of points is carried out by means of the matched object model. A classifier, trained by means of at least one exemplary object, is used to generate an attention map from at least one of the images. A number and/or a location probability of at least one object, which is similar to the exemplary object, is determined in the image using the attention map, and the attention map is taken into account in the clustering method and/or in the model matching.

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Neu-Ulm, Germany

Bjoern Barrois