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(11) |
EP 2 720 171 A8 |
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CORRECTED EUROPEAN PATENT APPLICATION |
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Note: Bibliography reflects the latest situation |
(15) |
Correction information: |
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Corrected version no 1 (W1 A1) |
(48) |
Corrigendum issued on: |
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28.05.2014 Bulletin 2014/22 |
(88) |
Date of publication A3: |
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16.04.2014 Bulletin 2014/16 |
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Date of publication: |
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16.04.2014 Bulletin 2014/16 |
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Date of filing: 12.10.2012 |
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(51) |
International Patent Classification (IPC):
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(84) |
Designated Contracting States: |
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AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL
NO PL PT RO RS SE SI SK SM TR |
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Designated Extension States: |
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BA ME |
(71) |
Applicant: MVTec Software GmbH |
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81675 München (DE) |
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(72) |
Inventors: |
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- Drost, Bertram
80339 München (DE)
- Ulrich, Markus
81479 München (DE)
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(74) |
Representative: Vossius & Partner |
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Siebertstrasse 4 81675 München 81675 München (DE) |
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Remarks: |
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Amended claims in accordance with Rule 137(2) EPC. |
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(54) |
Recognition and pose determination of 3D objects in multimodal scenes |
(57) The invention provides a method for recognizing instances of a 3D object in 3D scene
data and scene intensity data and for determining the 3D poses of said instances comprising
the following steps: (a) providing 3D object data and obtaining object intensity data;
(b) providing 3D scene data and scene intensity data; (c) extracting scene feature
points from the intensity data; (d) selecting at least one reference point from the
3D scene data; (e) computing, for each selected reference point, pose candidates for
the 3D object under the assumption that said reference point is part of the 3D object
by maximizing the number of extracted scene feature points that are consistent with
the 3D object under the given pose candidate; (f) computing a set of filtered poses
from the pose candidates.