Patent ID: 8340401
Filing Date: 2012-12-25
Classification: G06K,G06T

Abstract:
1. A method for associating a three-dimensional surface representing a real object and a three-dimensional reference surface, said reference surface being represented by a set of reference points, the method comprising: obtaining a set of real points representing the real surface; determining the normal vector of each point of said obtained set of real points; selecting, among the set of real points, control points according to the determined normal vector by determining correspondence points close to the set of reference points that are determined to correspond to the control points of the real surface; and determining the motion that minimizes the distances between the control points of the real surface and the correspondence points; retrieving or determining the normal vector of each point of the set of reference points; determining the points of intersection between each normal vector of the control points of the real surface and the set of reference points; obtaining the tangent plane at each intersection point by using the normal vector of the intersection point; and obtaining each correspondence point as the point at the tangent plane that has the minimum distance to the control point.