Mitsubishi Electric Research Laboratories, Inc.

Yong Xiao

Yuichi Taguchi

Vineet R Kamat

Chen Feng

Systems for completing missing points in a three-dimensional (3D) point cloud. The systems include a 3D sensor for measuring point data of objects in a scene, a processor in connection with the 3D sensor and a memory storing a program and the point data, and a display monitor connected to the processor and the 3D sensor for displaying a completed 3D point cloud, wherein the processor executes instruction steps of the program. The instruction steps include acquiring the point data of the objects to generate the 3D point cloud, wherein the point data include a set of points on the objects, extracting planar segments from the 3D point cloud, identifying connectivity relations and missing points among the planar segments, and filling the missing points in the 3D point cloud to generate the completed 3D point cloud using the planar segments and the connectivity relations.

Method and system for completing point clouds using planar segments

A method determines dimensions in a scene by first acquiring a depth image of the scene acquired by a sensor, and extracting planes from the depth image. Topological relationships of the planes are determined. The dimensions are determined based on the planes and the topological relationships. A quality of the dimensions is evaluated using a scene type, and if the quality is sufficient outputting the dimensions, and otherwise outputting a guidance to reposition the sensor.

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Ann Arbor, MI, United States of America

Yong Xiao