Use Color Information in 3D Surface Matcher

Abstract: systems and methods for performing surface matching using three-dimensional (3d) and color information. an example method includes obtaining, by a 3d camera, a first 3d image of a field of view. the 3d image includes (i) a plurality of voxels, or 3d points, of the field of view and (ii) color information of the field of view. a processor normalizes the color information into a common color space, and determines scene histograms from the normalized color information. each of the scene histograms is determined for a voxel of the plurality of voxels. the method further includes determining a color score from at least the scene histograms and model histograms, the model histograms being indicative of color information of a model image of a 3d object, and determining the presence of a surface of an object in the first 3d image from the color score.

Inventor(s): Ola El Bakry

CPC Classification: G06T15/00 (3D [Three Dimensional] image rendering)

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