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

Claim 14:
15. A feature point detection method for detecting feature points in image data, comprising:
providing the image data, by an image data providing unit;
determining key points in the image data, by a key point determination unit;
determining features associated with the key points, each of which describes a local environment of a key point in the image data, by a feature determination unit; and
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, by a feature point providing unit,
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 point detection method further comprises:
determining the shape and/or the location of the local environment of a key point to be described by the features using the depth data, by the feature determination unit,
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.