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Method and apparatus for determining angular pose of an object

  • US 20050196036A1
  • Filed: 03/05/2004
  • Published: 09/08/2005
  • Est. Priority Date: 03/05/2004
  • Status: Active Grant
First Claim
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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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