US 11,816,857 B2
Methods and apparatus for generating point cloud histograms
Hongwei Zhu, Natick, MA (US); David J. Michael, Waban, MA (US); and Nitin M. Vaidya, Shrewsbury, MA (US)
Assigned to Cognex Corporation, Natick, MA (US)
Filed by Cognex Corporation, Natick, MA (US)
Filed on May 10, 2021, as Appl. No. 17/316,327.
Claims priority of provisional application 63/065,456, filed on Aug. 13, 2020.
Claims priority of provisional application 63/023,163, filed on May 11, 2020.
Prior Publication US 2021/0350165 A1, Nov. 11, 2021
Int. Cl. G06T 15/00 (2011.01); G06T 7/66 (2017.01); G06T 11/20 (2006.01); G06T 17/20 (2006.01); G06T 7/50 (2017.01); G06F 18/22 (2023.01); G06V 10/50 (2022.01)
CPC G06T 7/66 (2017.01) [G06F 18/22 (2023.01); G06T 7/50 (2017.01); G06T 11/206 (2013.01); G06T 17/20 (2013.01); G06V 10/50 (2022.01); G06T 2207/10028 (2013.01); G06T 2207/20072 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computerized method for analyzing three-dimensional (3D) point clouds of objects, the method comprising:
receiving data indicative of a 3D point cloud of an object, the 3D point cloud of the object comprising a plurality of 3D points;
determining, based on the 3D point cloud of the object, a reference in spatial relation to the 3D point cloud of the object, the reference being within the 3D point cloud of the object;
determining, for each 3D point of the plurality of 3D points, a distance to the reference to generate a set of distances for the plurality of 3D points such that the set of distances are independent of an orientation of the object; and
generating, based on the set of distances, a histogram comprising a set of entries, comprising inserting, for each entry of the set of entries, distances from the set of distances that are within a range of distances associated with the entry.