Hong Kong Applied Science and Technology Research Institute Company, Limited

Hoi Fai Yu

Xueyan Tang

Meng Chen

Computer implemented methods and computerized apparatus for posture, dimension and shape measurements of at least one 3D object in a scanned 3D scene are provided. The method comprises receiving a point cloud and performs 3D geometric feature extraction. In one embodiment, the 3D geometric feature extraction is based on a 3D hybrid voxel-point structure, which comprises a hybrid voxel-point based normal estimation, a hybrid voxel-point based plane segmentation, a voxel-based geometric filtering, a voxel-based edge detection and a hybrid voxel-point based line extraction. Through the process of 3D geometric feature extraction, the geometric features are then passed to the geometric-based dimension and shape measurements for various applications. After 3D geometric feature extraction, a further process of feature-based object alignment is performed. According to one embodiment of the present invention, using the exact lines extracted from the 3D geometric feature extraction, the computerized apparatus generates line-to-line (L2L) pair features for each identified object in the 3D scene. The L2L pair features in turn is used for aligning the identified 3D objects with target 3D objects.

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Hong Kong, China

Hoi Fai Yu