Patent ID: 7542624
Filing Date: 2009-06-02
Classification: G06K

Abstract:
1. A method for three-dimensional (3D) range imagery, comprising: a) providing a template data set A={a b) providing a probe data set B={b c) computing a template range image A(p)=z d) computing a probe range image B(q)=z e) representing a set of coordinates of points in a window of size w, according to W={(u, v)|=1, . . . w, v=1 . . . w} for a distance kernel k wherein u and v determine the entries for k that are the square norm to that entry's position from the center of the distance kernel; f) centering the window W at p of the probe range image B, thereby providing a set of coordinates of centered points according to W g) for each point p in A, finding the distance d wherein d W is the approximate Hausdorff distance using the window W; h) computing a Hausdorff fraction, according to where function χ D (x) is an indicator function given by and D is a largest threshold Hausdorff distance; and i) determining if the Hausdorff fraction exceeds a threshold, thereby determining if the 3D image matches the 3D object.