System and method for 3D object recognition using range and intensity
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United States of America Patent
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Issued Date -
Dec 29, 2005
app pub date -
Jun 22, 2005
filing date -
Jun 23, 2004
priority date (Note) -
Abandoned
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Abstract
A system and method for performing object and class recognition that allows for wide changes of viewpoint and distance of objects is disclosed. The invention provides for choosing pose-invariant interest points of a three-dimensional (3D) image, and for computing pose-invariant feature descriptors of the image. The system and method also allows for the construction of three-dimensional (3D) object and class models from the pose-invariant interest points and feature descriptors of previously obtained scenes. Interest points and feature descriptors of a newly acquired scene may be compared to the object and/or class models to identify the presence of an object or member of the class in the new scene.
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