The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 30, 2018
Filed:
Jan. 08, 2015
GM Global Technology Operations Llc, Detroit, MI (US);
Sungkyunkwan University Foundation for Corporate Collaboration, Gyeonggi-Do, KR;
Sukhan Lee, Gyeonggi-Do, KR;
Hung Huu Nguyen, Gyeonggi-Do, KR;
Jaewoong Kim, Seoul, KR;
Jianying Shi, Oakland Township, MI (US);
SungKyunKwan University Foundation for Corporation Collaboration, Gyeonggi-Do, KR;
GM Global Technology Operations LLC, Detroit, MI (US);
Abstract
A vision system is configured to dynamically inspect an object in a field of view. This includes capturing, using a camera, three-dimensional (3D) point cloud data of the field of view and transforming each of the points of the 3D point cloud data into a plurality of tangential surface vectors. Surface normal vectors are determined for each of the points of the 3D point cloud data based upon the plurality of tangential surface vectors. Distribution peaks in the surface normal vectors are detected employing a unit sphere mesh. Parallel planes are separated using the distance distribution peaks. A radially bounded nearest neighbor strategy combined with a process of nearest neighbor searching based upon cell division is executed to segment a planar patch. A planar surface is identified based upon the segmented planar patch.