Patent ID: 11941827
Assignee: DATALOGIC IP TECH, S.R.L.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 10:
11. A system for performing a three-dimensional 3D point cloud registration with multiple two-dimensional (2D) images, said system comprising:
a 2D camera;
a 3D camera;
a processor in communication with the 2D and 3D cameras, and configured to:
determine relative position between the 2D and 3D cameras;
cause the 2D and 3D cameras to capture a series of image frames including images of an object;
generate a 3D point cloud from image of the object captured by the 3D camera;
identify at least one dominant plane of the object in the images on the 3D point cloud;
measure rigid motion of the at least one dominant plane on the 3D point cloud between paired image frames in the series of the image frames;
identify the at least one dominant plane of the object as 2D planar surfaces on a 2D image plane of the 2D camera;
estimate possible homography matrices between the paired image frames of the at least one dominant plane imaged on the 2D image plane;
utilize a trained classifier to determine correspondence between the homography matrices and inferred motion of the at least one dominant plane on the 3D point cloud for the paired image frames;
select a homography matrix between the paired images of the at least one dominant plane on the 2D image plane based on the correspondence between the inferred motions and measured motion of the at least one dominant plane on the 3D point cloud for the paired image frames; and
register the at least one dominant plane of the imaged object from the 2D image plane to the 3D point cloud.