Use color information in 3D surface matcher

Abstract

A method comprising obtaining a first 3D image of a field of view by a 3D camera wherein the first 3D image comprises a plurality of 3D points of the field of view and colour information of the field of view. A processor determines a plurality of voxels of the 3D image wherein each voxel comprises one or more of the 3D points. The processor compiles scene histograms through normalising the colour information to a common colour space which are determined for a voxel of the plurality of voxels of the first 3D image. The processor further determines a colour score by comparing the scene histograms to model histograms having colour information of a model image of a 3D object. The presence of an object surface in the first 3D image is determined by the colour score. The method may be suitable for performing three-dimensional surface matching. Determining the colour score may comprise comparing corresponding voxels of the first 3D image and voxels of the model image by a weighted sum; 3D transformation may be performed on the first 3D image or the model image. A colour histogram may be determined for each voxel of the first 3D image. The colour score may be compared to a threshold score when determining the presence of an object surface. A second 3D image may be obtained and processed. A system and computer-readable instructions to be performed on a processor are also claimed.

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