US 8,379,014 B2 · System and method for 3D object recognition

Abstract

The present invention provides a system and method for recognizing a 3D object in a single camera image and for determining the 3D pose of the object with respect to the camera coordinate system. In one typical application, the 3D pose is used to make a robot pick up the object. A view-based approach is presented that does not show the drawbacks of previous methods because it is robust to image noise, object occlusions, clutter, and contrast changes. Furthermore, the 3D pose is determined with a high accuracy. Finally, the presented method allows the recognition of the 3D object as well as the determination of its 3D pose in a very short computation time, making it also suitable for real-time applications. These improvements are achieved by the methods disclosed herein.

Claims45

Dependent claims

A method for transforming an object into an electronic 3-D model for 3D object recognition comprising the following steps:

(a) providing the interior parameters of a camera using a computer processor;
(b) providing a geometric representation of a 3D object;
(c) providing a range of poses in which the 3D object may appear with respect to the camera by (c1) providing a range of positions by providing intervals for coordinate and (c2) providing a range of orientations by providing intervals for angles;
(d) creating virtual views of the 3D object by sampling the range of poses for different image resolutions;
(e) representing all views by a tree structure where views that correspond to the same image resolution reside at the same hierarchy level in the tree;
and (f) for each view creating a 2D model that can be used to find the 2D view in an image by using an appropriate 2D matching approach.

3 more elements

Dependencies are inferred from the claim text.

System and method for 3D object recognition

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System and method for 3D object recognition

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Abstract

Claims45