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:
Apr. 16, 2019
Filed:
Nov. 02, 2015
Applicant:
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Inventors:
Srikumar Ramalingam, Cambridge, MA (US);
Jay Thornton, Watertown, MA (US);
Wenzhen Yuan, Cambridge, MA (US);
Assignee:
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Primary Examiner:
Int. Cl.
CPC ...
G06T 7/70 (2017.01); G06T 7/73 (2017.01); G01B 11/14 (2006.01); G01B 21/24 (2006.01); G06T 15/20 (2011.01); G06T 17/00 (2006.01); G06T 7/246 (2017.01);
U.S. Cl.
CPC ...
G01B 11/14 (2013.01); G01B 21/24 (2013.01); G06T 7/251 (2017.01); G06T 7/70 (2017.01); G06T 7/75 (2017.01); G06T 15/20 (2013.01); G06T 17/00 (2013.01); G06T 2200/04 (2013.01); G06T 2207/10032 (2013.01); G06T 2207/30184 (2013.01); G06T 2207/30244 (2013.01); G06T 2207/30252 (2013.01);
Abstract
A method and system estimates a three-dimensional (3D) pose of a sensor by first acquiring scene data of a 3D scene by the sensor. Two-dimensional (2D) lines are detected in the scene data and the 2D lines are matched to 3D lines of a 3D model of the scene to produce matching lines. Then, the 3D pose of the sensor is estimated using the matching lines.