Method, system, and computer program for recognizing position and attitude of object imaged by camera
AssigneeSeiko Epson Corporation
InventorsMasaki Hayashi, Jian Yao, Dibyendu Mukherjee, Andrei Mark Rotenstein
Life of this patent
Estimating the term…
Abstract
A method of the present disclosure includes (a) extracting distinctive features used for respectively distinguishing a plurality of similar attitudes from which images similar to one another are obtained using a simulation model of an object, (b) capturing an object image of the object using a camera, (c) estimating a position and an attitude of the object using the object image, and (d) when the estimated attitude corresponds to one of the plurality of similar attitudes, determining the one of the plurality of similar attitudes as the attitude of the object using the distinctive features.
Claims9
A method of recognizing a position and an attitude of an object imaged by a camera, comprising:
- (a) extracting distinctive features used for respectively distinguishing a plurality of similar attitudes from which images similar to one another are obtained using a simulation model of the object, the extracting of the distinctive features including:
- placing the simulation model at a center of a virtual sphere;
- setting a plurality of viewpoints for viewing the simulation model at equal intervals along 360 degrees on an outer surface of the virtual sphere;
- calculating a similarity of every two attitudes of a plurality of attitudes of the simulation model between viewing from one viewpoint of the plurality of viewpoints and viewing from another viewpoint of the plurality of viewpoints for every viewpoint of the plurality of viewpoints;
- extracting the plurality of similar attitudes, each of the plurality of similar attitudes having the similarity that is equal to or more than a threshold value;
- and
- extracting the distinctive features based on shapes and rotations of the plurality of similar attitudes;
- (b) capturing an object image of the object using the camera;
- (c) estimating the position and the attitude of the object using the object image;
- and
- (d) when the estimated attitude corresponds to first attitude of the plurality of similar attitudes, determining the first attitude of the plurality of similar attitudes as the attitude of the object using the distinctive features.
A system of recognizing a position and an attitude of an object, comprising:
- a camera configured to capture an object image of the object;
- a memory configured to store a program;
- and
- a processor configured to execute the program so as to:
- extract distinctive features used for respectively distinguishing a plurality of similar attitudes from which images similar to one another are obtained using a simulation model of the object, the extracting of the distinctive features including:
- placing the simulation model at a center of a virtual sphere;
- setting a plurality of viewpoints for viewing the simulation model at equal intervals along 360 degrees on an outer surface of the virtual sphere;
- calculating a similarity of every two attitudes of a plurality of attitudes of the simulation model between viewing from one viewpoint of the plurality of viewpoints and viewing from another viewpoint of the plurality of viewpoints for every viewpoint of the plurality of viewpoints;
- extracting the plurality of similar attitudes, each of the plurality of similar attitudes having the similarity that is equal to or more than a threshold value;
- and
- extracting the distinctive features based on shapes and rotations of the plurality of similar attitudes;
- (b) causing the camera to capture the object image of the object;
- (c) estimating the position and the attitude of the object using the object image;
- and
- (d) when the estimated attitude corresponds to first attitude of the plurality of similar attitudes, processing of determining the first attitude of the plurality of similar attitudes as the attitude of the object using the distinctive features.
A computer program product embodying computer readable instructions stored on a non-transitory computer-readable medium for controlling a processor to execute processing of recognizing a position and an attitude of an object imaged by a camera, the processor is configured to perform the steps of:
- (a) processing of extracting distinctive features used for respectively distinguishing a plurality of similar attitudes from which images similar to one another are obtained using a simulation model of the object, the extracting of the distinctive features including:
- placing the simulation model at a center of a virtual sphere;
- setting a plurality of viewpoints for viewing the simulation model at equal intervals along 360 degrees on an outer surface of the virtual sphere;
- calculating a similarity of every two attitudes of a plurality of attitudes of the simulation model between viewing from one viewpoint of the plurality of viewpoints and viewing from another viewpoint of the plurality of viewpoints for every viewpoint of the plurality of viewpoints;
- extracting the plurality of similar attitudes, each of the plurality of similar attitudes having the similarity that is equal to or more than a threshold value;
- and
- extracting the distinctive features based on shapes and rotations of the plurality of similar attitudes;
- (b) processing of causing the camera to capture an object image of the object;
- (c) processing of estimating the position and the attitude of the object using the object image;
- and
- (d) when the estimated attitude corresponds to first attitude of the plurality of similar attitudes, processing of determining the first attitude of the plurality of similar attitudes as the attitude of the object using the distinctive features.
Dependencies are inferred from the claim text.