Patent ID: 8379969

Claim:
A method for matching an object model representing a real object to a three-dimensional point cloud comprising a plurality of three-dimensional points, the method comprising the steps of: stereoscopically recording two images of an area comprising at least one real object, providing an object model representing the real object, providing a number of exemplary images showing an exemplary embodiment of the real object, training a classifier by means of the exemplary images, generating the three-dimensional point cloud from the two images by means of a stereo method, generating an attention map from at least one of the two images using the classifier, determining at least one cluster of points in the point cloud by applying a clustering method to the plurality of points, the at least one cluster representing points belonging to the real object, superimposing the object model on the at least one cluster, and correcting any false assignments of points in the at least one cluster by means of the superimposed object model, wherein a location probability for the at least one object in the images is determined from the cluster of points as corrected using the attention map, and wherein an optimum position of the object model relative to the cluster is determined using the location probability.