Patent ID: 11941828
Assignee: BASLER AKTIENGESELLSCHAFT
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 0:
1. A feature point detection apparatus for detecting feature points in image data, comprising:
an image data providing unit for providing the image data;
a key point determination unit for determining key points in the image data;
a feature determination unit for determining features associated with the key points, each of which describes a local environment of a key point in the image data; and
a feature point providing unit for providing the feature points, wherein a feature point is represented by the position of a key point in the image data and the associated features,
wherein the image data comprise intensity data and associated depth data, and the determination of the key points and the associated features is based on a local analysis of the image data in dependence on both the intensity data and the depth data;
wherein the feature determination unit is adapted to determine the shape and/or the location of the local environment of a key point to be described by the features using the depth data; and
wherein the determining of the shape and/or the location of the local environment of the key point to be described by the features comprises a comparison of the depth value of the key point according to the depth data with the depth values of points of a neighborhood environment of the key point according to the depth data.