Patent ID: 9563954
Date: 2017-02-07
CPC Classifications: A61B,A61C,G06T

Claim:
1. A method for capturing the three-dimensional surface geometry of objects, in which the following steps are performed: 1) Loading an available truncated signed distance function (TSDF) from a storage medium; 2) Capturing a new depth image; 3) Loading available poses to the loaded TSDF; 4) Applying the loaded poses to the loaded TSDF; 5) Preferred selection of the pose, which leads to the most labeled points; 6) Generation of an artificial depth image from the TSDF by means of the selected pose; 7) Application of an Iterative Closest Point Algorithm (ICP) method to the new depth image and the artificial depth image to gain a new pose; 8) Verification of whether the ICP method from Step 7) leads to a successful registration; 9) If Step 8) is successful, updating of the existing TSDF by means of the new depth image and the pose gained in Step 7); 10) If Step 8) is unsuccessful, repetition of the steps beginning with Step 4).