Method of separating object in three dimension point cloud

Patent metadata

Field	Value
Publication number	US-9251399-B2
Application number	US-201213585282-A
Country	US
Kind code	B2
Filing date	Aug 14, 2012
Priority date	Aug 22, 2011
Publication date	Feb 2, 2016
Grant date	Feb 2, 2016

Abstract

A method of separating an object in a three dimension point cloud including acquiring a three dimension point cloud image on an object using an image acquirer, eliminating an outlier from the three dimension point cloud image using a controller, eliminating a plane surface area from the three dimension point cloud image, of which the outlier has been eliminated using the controller, and clustering points of an individual object from the three dimension point cloud image, of which the plane surface area has been eliminated using the controller.

First claim

What is claimed is:

1. A method of separating an object in a three dimension point cloud, the method comprising:
acquiring, using an image acquirer, a three dimension point cloud image on an object;
eliminating, using a controller, an outlier from the three dimension point cloud image;
eliminating, using the controller, a plane surface area from the three dimension point cloud image, of which the outlier has been eliminated; and
clustering, using the controller, points of an individual object from the three dimension point cloud image, of which the plane surface area has been eliminated,
wherein the clustering of points includes assigning a label to each point on the three dimension point cloud image by,
extracting adjacent points that are within a desired distance with respect to each point on the three dimension point cloud image,
assigning a same label to the each point and to the adjacent points if the number of the adjacent points is equal to or grater than a threshold value, the label being associated with the object, and
matching each point cloud segment assigned with the same label, thereby calibrating to a point cloud of the individual object.

2. The method of claim 1 , wherein the image acquirer comprises a stereo camera, a Time of Flight (TOF) camera, a Laser Range Finders (LRF) sensor, or a kinect sensor.

3. The method of claim 1 , wherein in the eliminating of the outlier, whether a distance between each point of the three dimension point cloud image and nearby points adjacent to the each point is equal to or greater than a critical value is determined.

4. The method of claim 3 , wherein the eliminating of the outlier comprises:
extracting a desired number of nearest points with respect to each point of the three dimension point cloud image;
measuring an average distance between the each point and the nearest points; and
eliminating the each point and the nearest points if an average distance between the each point and the nearest points is equal to or greater than a critical value.

5. The method of claim 1 , wherein in the eliminating of the outlier, if a distance between each point of the three dimension point cloud image and a position at which the three dimension point cloud image on the object is acquired is equal to or greater than a desired distance, the controller eliminates the each point.

6. The method of claim 1 , wherein in the eliminating of the plane surface area, whether a distance between each point and a plane surface of the three dimension point cloud image is equal to or greater than a critical value is determined.

7. The method of claim 6 , wherein the eliminating of the plane surface area comprises:
extracting a desired number of plane surfaces, each plane surface passing through three points on the three dimension point cloud image, and measuring the number of points having a distance that is less than a critical value with respect to each plane surface on the three dimension point cloud image;
selecting a plane surface having a largest number of points having a distance less than the critical value with respect to each plane surface; and
eliminating each point in case when a distance between the each point on the three dimension point cloud image and the selected plane surface is less than the critical value.

8. The method of claim 1 , wherein in the calibrating to a point cloud of an individual object, if a label of each point on the three dimension point cloud image is different from a label of an adjacent point that is within a desired distance with respect to the each point, the controller assigns the each point on the three dimension point cloud image and the adjacent point with same label.

9. The method of claim 1 , wherein in the eliminating of the outliner, a downsampling is conducted on the three dimension point cloud image at a desired rate, and an outlier is eliminated from the three dimension point cloud image which has been downsampled.

10. The method of claim 9 , wherein in the eliminating of the outlier, the controller determines if the distances between each point on the three dimension point cloud image and points adjacent to the each point are equal to or greater than a critical value.

11. The method of claim 10 , wherein the eliminating of the outlier comprises:
extracting a desired number of nearest points with respect to each point of the three dimension point cloud image;
measuring an average distance between the each point and the nearest points; and
eliminating the each point and the nearest points if the average distance is equal to or greater than a critical value.

12. The method of claim 9 , wherein in the eliminating of the outlier, if a distance between each point on the three dimension point cloud image and a position at which the three dimension point cloud image on the object is acquired is equal to or greater than a desired distance, the controller eliminates the each point.

13. The method of claim 9 , wherein in the eliminating of the plane surface area, the controller determines whether a distance between each point and a plane surface of the three dimension point cloud image is equal to or greater than a critical value.

14. The method of claim 13 , wherein the eliminating the plane surface area comprises:
extracting a desired number of plane surfaces, each plane surface passing through three points on the three dimension point cloud image, and measuring the number of points having a distance that is less than a critical value with respect to each plane surface on the three dimension point cloud image;
selecting a plane surface having a largest number of points having a distance less than the critical value with respect to each plane surface; and
eliminating each point in case when a distance between each point on the three dimension point cloud image and the selected plane surface is less than a critical value.

15. The method of claim 9 , wherein in the calibrating to a point cloud of the individual object, if a label of each point on the three dimension point cloud image is different from a label of an adjacent point that is within a desired distance with respect to the each point, the controller assigns the each point and the adjacent point with same label.

16. At least one non-transitory computer readable medium storing computer readable instructions, which when executed by at least one processor, configures the processor to:
acquire a three dimension point cloud image on an object;
eliminate an outlier from the three dimension point cloud image;
eliminate a plane surface area from the three dimension point cloud image, of which the outlier has been eliminated; and
cluster points of an individual object from the three dimension point cloud image, of which the plane surface area has been eliminated, to assign a label to each point on the three dimension point cloud image by,
extracting adjacent points that are within a desired distance with respect to each point on the three dimension point cloud image,
assigning a same label to the each point and to the adjacent points if the number of the adjacent points is equal to or greater than a threshold value, the label being associated with the object, and
matching each point cloud segment assigned with the same label, thereby calibrating to a point cloud of the individual object.

Assignees

• Hwang Hyo Seok
• Roh Kyung Shik
• Yoon Suk June
• Samsung Electronics Co Ltd

Inventors

• Hwang Hyo Seok
• Roh Kyung Shik
• Yoon Suk June

Classifications

• G06T2207/20141

  Physics · mapped topic

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title

• G06K9/00201 Primary

  Physics · mapped topic

• G06T7/0081

  Physics · mapped topic

• G06V20/64 Primary

  Three-dimensional [3D] objects · CPC title