Method and apparatus for determining angular pose of an object
First Claim
1. A method of calculating an angular pose of an assumed object comprising:
- providing a sample image of the known object having an assumed pose;
calculating a series of projection sums across the sample image over a range of angles and organizing the projection sums into a two dimensional array based on the angle at which the projection sum was calculated;
providing a first image of the known object, the angular pose of the known object shown in the first image being unknown;
calculating a projection sum across the first image at an assumed angle, and;
comparing the projection sum across the first image against the two dimensional array and selecting the angle whose projection sum best compares to the projection sum of the first image.
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Abstract
The present invention is operative to determine the angular pose of an assumed object. A series of projection sums are calculated from a sample image of the known object where the known object has an assumed pose. The projection sums are calculated for a range of angles and organized into a two dimensional array coined a projection image. An image of the known object is provided where the known object has an unknown pose. A projection sum is calculated across the image of the known object with the unknown pose preferably at the perpendicular. This projection sum is correlated against the projection image and the angle corresponding to the best correlation is determined to be the angular pose of the known object.
30 Citations
13 Claims
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1. A method of calculating an angular pose of an assumed object comprising:
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providing a sample image of the known object having an assumed pose;
calculating a series of projection sums across the sample image over a range of angles and organizing the projection sums into a two dimensional array based on the angle at which the projection sum was calculated;
providing a first image of the known object, the angular pose of the known object shown in the first image being unknown;
calculating a projection sum across the first image at an assumed angle, and;
comparing the projection sum across the first image against the two dimensional array and selecting the angle whose projection sum best compares to the projection sum of the first image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A computer readable medium for use in a machine vision system, the computer readable medium being configured to determine the angular pose of a known object comprising:
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means for calculating a series of projection sums across a sample image of the known object over a range of angles, the sample image of the known object having an assumed angular pose;
means for organizing the projection sums into a two dimensional array based on the angle at which the projection sum was calculated;
means for calculating a projection sum across a first image of the known object, where the known object has an unknown angular pose, the projection sum being calculated at an assumed angle;
means for comparing the projection sum across the first image against the two dimensional array, and;
means for selecting the angle whose projection sum best compares to the projection sum of the first image. - View Dependent Claims (10, 11, 12, 13)
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Specification