Patent ID: 11908210
Assignee: MEISSA INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 0:
1. A method for detecting an object in a three-dimensional (3D) point cloud comprising:
by a three-dimensional (3D) model reconstruction unit, reconstructing a three-dimensional (3D) model using three-dimensional (3D) point cloud data;
by a two-dimensional (2D) object detection unit, detecting an object in at least one two-dimensional (2D) image captured to generate the three-dimensional (3D) point cloud data;
by a three-dimensional (3D) position estimation unit, extracting an external appearance of the object from a top-view image obtained from the three-dimensional (3D) model, extracting planar coordinates corresponding to the external appearance of the object, forming a cylinder surrounding the object in the three-dimensional (3D) model based on a two-dimensional (2D) position of the detected object based on the planar coordinates, and estimating a three-dimensional (3D) position of the detected object using the cylinder; and
by an object region extraction unit, acquiring three-dimensional (3D) point cloud data contained in the cylinder, and extracting an object region from the acquired three-dimensional (3D) point cloud data,
wherein a bottom surface of the cylinder is set to a planar figure including the planar coordinates.