US 11,861,863 B2
Shape dependent model identification in point clouds
Denis Wohlfeld, Ludwigsburg (DE); and Florian Schellroth, Stuttgart (DE)
Assigned to FARO Technologies, Inc., Lake Mary, FL (US)
Filed by FARO Technologies, Inc., Lake Mary, FL (US)
Filed on Jun. 11, 2020, as Appl. No. 16/899,530.
Claims priority of provisional application 62/862,315, filed on Jun. 17, 2019.
Prior Publication US 2020/0394815 A1, Dec. 17, 2020
Int. Cl. G06T 7/70 (2017.01); G01S 7/48 (2006.01); G01S 17/42 (2006.01)
CPC G06T 7/70 (2017.01) [G01S 7/4802 (2013.01); G01S 17/42 (2013.01); G06T 2207/10028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for shape dependent model identification in a point cloud, the system comprising:
a scanner device that captures a 3D point cloud corresponding to a representation of an object with a scanning timestamp;
a computer that receives a sensor data, a time of capture of the sensor data comprising a timestamp being substantially the same time as that of the scanning timestamp of the 3D point cloud, the sensor data indicative of a position of a movable part of the object at the time of capture, the sensor data received from a sensor coupled to the object;
the computer further configured to compute an adjusted shape of the object from a baseline shape of the object by using the sensor data having the timestamp with substantially the same time as that of the scanning timestamp of the 3D point cloud; and
an object recognition module that searches for and identifies the object in the 3D point cloud having the scanning timestamp with substantially the same time as that of the sensor data based on the adjusted shape.