Apparatus for the registration of three-dimensional shapes

Details Apparatus for the registration of three-dimensional shapes Apparatus for the registration of three-dimensional shapes

1992-03-02

1998-02-03

Voeltz, Emanuel T.

Boots, shoes, and leggings

382199, G01D 116

Patent

active

057151660

ABSTRACT:
An apparatus for identifying surfaces, comprising a point digitizing apparatus for obtaining data points of a surface to be located and an apparatus, such as a memory device, for storing a mathematical model of a model surface. A microprocessor control unit registers the mathematical model and the obtained data points, wherein the microprocessor control unit accomplishes the registration by (i) determining a data point set comprising various points from the obtained data points, (ii) finding a set of closest points comprising, for each point of the data point set, a closest point on the first mathematical model, (iii) registering the data point set to the set of closest points to obtain a registered point set, (iv) computing a mean square distance of points of the registered point set to the closest point set, (v) comparing the mean square distance to a predetermined threshold and (vi) if the mean square distance is above a threshold, (vi.i) redefining the data point set as the registered point set and (vi.ii) repeating parts (ii), (iii), (iv) and (v). Resultant from the registration, the control unit provides an output signal that can be used to indicate the surface position, quality and/or identification.

REFERENCES:
patent: 3983376 (1976-09-01), Pozzetti
patent: 4679331 (1987-07-01), Kooutz
patent: 4702652 (1987-10-01), Rokksku et al.
patent: 4979224 (1990-12-01), Malocco et al.
patent: 4995087 (1991-02-01), Rathi et al.
patent: 5016199 (1991-05-01), McMurtry et al.
patent: 5019993 (1991-05-01), Montalcini et al.
patent: 5023800 (1991-06-01), Caruer et al.
patent: 5067086 (1991-11-01), Yamazaki et al.
patent: 5095439 (1992-03-01), Seki et al.
patent: 5115400 (1992-05-01), Watanabe et al.
patent: 5117169 (1992-05-01), Kakino et al.
patent: 5155558 (1992-10-01), Tanuenbaum et al.
Least-Squares Fitting of Two 3-D Point Sets; K.S. Arun, T.S. Huang, & S.D. Blostein, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. PAM1-9. No. 5, Sep., 1987.
Three Dimensional Object Representation Revisited; Ruzena Bajcsy & Franc Solina, Grasp Laboratory, Department of Computer & Information Sciences, University of Pennsylvania, Philadelphia, PA 19104-6389, USA 1987 (no month).
Geometric Modeling and Computer Vision; Paul J. Besl, Computer Science Dept., Research Publication-GMR 6248, GM Research Laboratories, Apr. 21, 1988.
The Free-Form Surface Matching Problem; Paul J. Besl, Computer Science Dept., Research Publication-GMR 7045, GM Research Laboratories, May 30, 1990.
3DPO: A Three-Dimensional Part Orientation System; Robert C. Bolles & Patrice Horaud, The International Journal of Robotics Research, vol. 5, No. 3; Fall, 1986 (no month).
Model-Based Recognition in Robot Vision; Roland T. Chin & Charles R. Dyer, Computing Surveys, vol. 18, No. 1; Mar., 1986.
The Representation, Recognition, and Locating of 3-D Objects; O. D. Faugeras & M. Herbert, The International Journal of Robotics Research, vol. 5, No. 3; Fall, 1986 (no month).
Estimating Motion From Sparce Range Data Without Correspondence; Richard Szeliski, Schlumberger Palo Alto Research, 3340 Hillview Ave., Palo Alto, CA 94304 1988 (no month).

Affiliated with

Also associated with

Rating

Apparatus for the registration of three-dimensional shapes does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Apparatus for the registration of three-dimensional shapes, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Apparatus for the registration of three-dimensional shapes will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-668396