US 7,957,583 B2 · System and method of three-dimensional pose estimation

Abstract

A system and method for identifying objects using a machine-vision based system are disclosed. Briefly described, one embodiment is a method that captures a first image of at least one object with an image capture device, processes the first captured image to find an object region based on a reference two-dimensional model and determines a three-dimensional pose estimation based on a reference three-dimensional model that corresponds to the reference two-dimensional model and a runtime three-dimensional representation of the object region where a point-to-point relationship between the reference three-dimensional models of the object and the runtime three-dimensional representation of the object region is not necessarily previously known. Thus, two-dimensional information or data is used to segment an image and three-dimensional information or data used to perform three-dimensional pose estimation on a segment of the image.

Claims37

Dependent claims

A method of object pose estimation using machine-vision, comprising:

identifying an object region of an image on which pose estimation is being performed based on a correspondence between at least a portion of a representation of an object in the image and at least a corresponding one of a plurality of reference two-dimensional models of the object, the object region being a portion of the image that contains the representation of at least a portion of the object;
and
determining a three-dimensional pose of the object based on at least one of a plurality of reference three-dimensional models of the object and a runtime three-dimensional representation of the object region where a point-to-point relationship between the reference three-dimensional models of the object and the runtime three-dimensional representation of the object region is not necessarily previously known.

A non-transitory computer readable medium that stores instructions for causing a computer to perform object pose estimation using machine-vision, by:

identifying an object region of an image based on a correspondence between at least a portion of a representation of an object in the object region of the image and at least a corresponding one of a plurality of reference two-dimensional models of the object, the object region being a portion of the image that contains the representation of at least a portion of the object;
and
determining a three-dimensional pose of the object based on at least one of a plurality of reference three-dimensional models of the object and a runtime three-dimensional representation of the object region where a point-to-point relationship between the reference three-dimensional models of the object and the runtime three-dimensional representation of the object region is not necessarily previously known.

Dependencies are inferred from the claim text.

System and method of three-dimensional pose estimation

Life of this patent

System and method of three-dimensional pose estimation

Life of this patent

Abstract

Claims37