Abstract: A motion-aware keypoint selection system adaptable to iterative closest point (ICP) includes a pruning unit that receives an image and selects at least one region of interest (ROI) composed of a selected subset of points on the image; a point quality estimation unit that receives the ROI and generates point quality; and a suppression unit that receives the point quality and generates keypoints. In one embodiment, a near edge region (NER) is selected as the ROI. In another embodiment, the point quality estimation unit generates point quality according to point motion and point depth.
Type:
Grant
Filed:
January 23, 2019
Date of Patent:
October 6, 2020
Assignees:
NCKU Research and Development Foundation, Himaz Technologies Limited