Patent Document ID: 9098773
Application ID: 13929280

Base Claim:
1. A method of detecting one or more objects in a three-dimensional point cloud scene, the method being implemented by a computer system that includes one or more processors configured to execute computer modules, the method comprising: receiving, by one or more processors, a three-dimensional point cloud scene, the three-dimensional point cloud scene comprising a plurality of points; classifying, by the one or more processors, at least a portion of the plurality of points in the three-dimensional point cloud into two or more categories by applying a classifying-oriented three-dimensional local descriptor and learning-based classifier; extracting, by the one or more processors, from the three-dimensional point cloud scene one or more clusters of points utilizing the two or more categories by applying at least one of segmenting and clustering; and matching, by the one or more processors, the extracted clusters with objects within a library by applying a matching-oriented three-dimensional local descriptor.

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Claim 8:
8. The method according to claim 1 , further comprising filtering, by the one or more processors, each of the extracted clusters to obtain filtered clusters with desired characteristics and then matching, by the one or more processors, the filtered clusters with the objects within the library by applying the matching-oriented three-dimensional local descriptor.