US 12,277,780 B2
Methods and apparatus for identifying surface features in three-dimensional images
Nathaniel Bogan, Natick, MA (US); Andrew Hoelscher, Somerville, MA (US); and David J. Michael, Waban, MA (US)
Assigned to Cognex Corporation, Natick, MA (US)
Filed by Cognex Corporation, Natick, MA (US)
Filed on May 10, 2021, as Appl. No. 17/316,446.
Claims priority of provisional application 63/023,186, filed on May 11, 2020.
Prior Publication US 2021/0350115 A1, Nov. 11, 2021
Int. Cl. G06V 20/64 (2022.01); G06T 17/00 (2006.01)
CPC G06V 20/647 (2022.01) [G06T 17/00 (2013.01); G06T 2200/04 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computerized method for identifying a surface feature of a portion of a three-dimensional (3D) point cloud, the method comprising:
receiving data indicative of a path along a 3D point cloud, wherein the 3D point cloud comprises a plurality of 3D data points;
generating a plurality of lists of 3D data points, wherein:
each list of 3D data points extends across the 3D point cloud at a location that intersects the received path; and
each list of 3D data points intersects the received path at different locations such that individual lists of the plurality of lists of 3D data points are separate from each other;
identifying, in at least some of the plurality of lists of 3D data points, a characteristic of a set of characteristics, wherein each characteristic of the set is associated with a different surface feature;
grouping the identified characteristics based on one or more properties of the identified characteristics; and
identifying, based on the grouped characteristics, a surface feature of the portion of the 3D point cloud, wherein the surface feature is associated with the identified characteristics and the surface feature extends through the 3D point cloud along the grouped identified characteristics.
 
12. A non-transitory computer-readable media comprising instructions that, when executed by one or more processors on a computing device, are operable to cause the one or more processors to identify a surface feature of a portion of a three-dimensional (3D) point cloud, comprising:
receiving data indicative of a path along a 3D point cloud, wherein the 3D point cloud comprises a plurality of 3D data points;
generating a plurality of lists of 3D data points, wherein:
each list of 3D data points extends across the 3D point cloud at a location that intersects the received path; and
each list of 3D data points intersects the received path at different locations such that individual lists of the plurality of lists of 3D data points are separate from each other;
identifying, in at least some of the plurality of lists of 3D data points, a characteristic of a set of characteristics, wherein each characteristic of the set is associated with a different surface feature;
grouping the identified characteristics based on one or more properties of the identified characteristics; and
identifying, based on the grouped characteristics, a surface feature of the portion of the 3D point cloud, wherein the surface feature is associated with the identified characteristics and the surface feature extends through the 3D point cloud along the grouped identified characteristics.
 
17. A system comprising a memory storing instructions, and at least one processor configured to execute the instructions to identify a surface feature of a portion of a three-dimensional (3D) point cloud, comprising:
receiving data indicative of a path along a 3D point cloud, wherein the 3D point cloud comprises a plurality of 3D data points;
generating a plurality of lists of 3D data points, wherein:
each list of 3D data points extends across the 3D point cloud at a location that intersects the received path; and
each list of 3D data points intersects the received path at different locations such that individual lists of the plurality of lists of 3D data points are separate from each other;
identifying, in at least some of the plurality of lists of 3D data points, a characteristic of a set of characteristics, wherein each characteristic of the set is associated with a different surface feature;
grouping the identified characteristics based on one or more properties of the identified characteristics; and
identifying, based on the grouped characteristics, a surface feature of the portion of the 3D point cloud, wherein the surface feature is associated with the identified characteristics and the surface feature extends through the 3D point cloud along the grouped identified characteristics.