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:
Jul. 26, 2022
Filed:
Apr. 21, 2021
Hong Kong Applied Science and Technology Research Institute Company Limited, Hong Kong, CN;
Chongshan Liu, Hong Kong, CN;
Xueyan Tang, Hong Kong, CN;
Chun Li, Hong Kong, CN;
Suk Ling Li, Hong Kong, CN;
Abstract
Computer implemented methods and computerized apparatus for identifying planes of a 3D object in a 3D scene are provided. The method comprises receiving a point cloud and performs plane segmentation. In one embodiment, the point cloud is voxelized into a plurality of voxels of equal dimensions and the plurality of voxels are classified into three categories, wherein each first category voxel satisfies a planar requirement and a first neighborhood constraint, each second category voxel satisfies the planar requirement and a second neighborhood constraint, and each third category voxel does not satisfy the planar requirement. The method further comprises generating at least one reference plane from the first category voxels by first identifying a first category anchor voxel and recruiting its neighboring first category voxels to this at least one reference plane; and growing the at least one reference plane by absorbing second category voxels connecting to the at least one reference plane if they satisfy a voxel merging requirement and absorbing points in the third category voxels connecting to the at least one reference plane if they satisfy a point merging requirement. Then the set of at least one reference plane is used to represent the 3D object for further applications.