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System and method for object recognition

  • US 20020057838A1
  • Filed: 09/26/2001
  • Published: 05/16/2002
  • Est. Priority Date: 09/27/2000
  • Status: Active Grant
First Claim
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1. A method for recognizing an object in an image comprising the steps of:

  • (a) acquiring in electronic memory an image of the model object;

    (b) transforming the image of the model object into a multi-level representation consistent with a recursive subdivision of the search space, said multi-level representation including at least the original image;

    (c) generating at least one precomputed model of the object for each level of discretization of the search space, said precomputed model consisting of a plurality of points with corresponding direction vectors, said points and direction vectors being generated by an image processing operation that returns a direction vector for at least each model point;

    (d) acquiring in electronic memory a current image;

    (e) transforming the current image into a multi-level representation consistent with a recursive subdivision of the search space, said multi-level representation including at least the original image;

    (f) performing an image processing operation on each transformed image of the multi-level representation that returns a direction vector for a subset of points within said image that corresponds to the range of translations for which the model should be searched;

    (g) computing a match metric that uses the direction information of the model and the transformed image for all possible poses of the model in the coarsest discretization level of the search space;

    (h) determining those model poses whose match metric exceeds a user-selectable threshold and whose match metric is locally maximal, and generating a list of instances of the model in the coarsest discretization level of the search space from said poses and said match metrics;

    (i) tracking said instances of the model in the coarsest discretization level of the search space through the recursive subdivision of the search space until the finest level of discretization is reached; and

    (j) providing the pose of the instances of the objects on the finest level of discretization.

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