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

Claim 15:
16. 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 key point determination unit is adapted to determine the key points in mixed data, which are based on a mixture of the intensity data and the depth data; and
wherein the image data further comprise confidence data associated with the depth data, which indicate a reliability of the depth data, wherein in the mixture a local weighting of the depth data relative to the intensity data is dependent on the associated local confidence of the depth data.