US 11,908,210 B2
Method and apparatus for detecting object in three-dimensional (3D) point cloud
Suk Won Choi, Suncheon (KR)
Assigned to Meissa Inc., Seoul (KR)
Filed by Meissa Inc., Seoul (KR)
Filed on Mar. 5, 2021, as Appl. No. 17/193,558.
Claims priority of application No. 10-2020-0028152 (KR), filed on Mar. 6, 2020.
Prior Publication US 2021/0279443 A1, Sep. 9, 2021
Int. Cl. G06V 20/64 (2022.01); G06T 7/62 (2017.01); G06T 7/73 (2017.01); G06T 17/10 (2006.01); G06V 20/13 (2022.01); G06V 20/10 (2022.01)
CPC G06V 20/647 (2022.01) [G06T 7/62 (2017.01); G06T 7/75 (2017.01); G06T 17/10 (2013.01); G06V 20/13 (2022.01); G06T 2207/10028 (2013.01); G06V 20/188 (2022.01)] 7 Claims
OG exemplary drawing
 
1. A method for detecting an object in a three-dimensional (3D) point cloud comprising:
by a three-dimensional (3D) model reconstruction unit, reconstructing a three-dimensional (3D) model using three-dimensional (3D) point cloud data;
by a two-dimensional (2D) object detection unit, detecting an object in at least one two-dimensional (2D) image captured to generate the three-dimensional (3D) point cloud data;
by a three-dimensional (3D) position estimation unit, extracting an external appearance of the object from a top-view image obtained from the three-dimensional (3D) model, extracting planar coordinates corresponding to the external appearance of the object, forming a cylinder surrounding the object in the three-dimensional (3D) model based on a two-dimensional (2D) position of the detected object based on the planar coordinates, and estimating a three-dimensional (3D) position of the detected object using the cylinder; and
by an object region extraction unit, acquiring three-dimensional (3D) point cloud data contained in the cylinder, and extracting an object region from the acquired three-dimensional (3D) point cloud data,
wherein a bottom surface of the cylinder is set to a planar figure including the planar coordinates.