Classification of objects as well as recognition of their position and orientation in space
First Claim
1. A method for the classification of objects (16) and/or the recognition of their position and/or their orientation in space, wherein measurement object data points of a measurement object surface are generated using a distance resolving receiver unit (18) and, with the aid of model object data determined in advance, hypotheses on the class, the position and/or the orientation of a measurement object (16) are proposed and verified from the measurement object data points, characterized in that a plurality of different hypothesis tests can be executed cascaded in such a way, that only on verification of a hypothesis through a hypothesis test is a subsequent hypothesis test carried out within this cascade, until either a hypothesis is falsified by the failure of a hypothesis test or a hypothesis is verified as a whole through a complete run through a cascade without falsification.
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Accused Products
Abstract
A method for the classification of objects (16) and/or the recognition of their position and/or their orientation in space is set forth, wherein measurement object data points of a measurement object surface are generated using a distance resolving receiver unit (18) and, with the aid of model object data determined in advance, hypotheses on the class, the position and/or the orientation of a measurement object (16) are proposed and verified from the measurement object data points. A plurality of different hypothesis tests can be executed cascaded in such a way that only on verification of a hypothesis through a hypothesis test is a subsequent hypothesis test carried out within this cascade, until either a hypothesis is falsified by the failure of a hypothesis test or a hypothesis is verified as a whole through a complete run through a cascade without falsification.
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Citations
15 Claims
- 1. A method for the classification of objects (16) and/or the recognition of their position and/or their orientation in space, wherein measurement object data points of a measurement object surface are generated using a distance resolving receiver unit (18) and, with the aid of model object data determined in advance, hypotheses on the class, the position and/or the orientation of a measurement object (16) are proposed and verified from the measurement object data points, characterized in that a plurality of different hypothesis tests can be executed cascaded in such a way, that only on verification of a hypothesis through a hypothesis test is a subsequent hypothesis test carried out within this cascade, until either a hypothesis is falsified by the failure of a hypothesis test or a hypothesis is verified as a whole through a complete run through a cascade without falsification.
- 12. An apparatus (10) for the classification of objects (16) and/or the recognition of their position and/or their orientation in space, wherein the apparatus (10) includes a distance resolving optoelectronic receiver unit (18) for the generation of measurement object data points of a measurement object surface, a model memory (30) for storing model object data and an evaluation unit (32) which is adapted to generate from the measurement object data points hypotheses, via model object data, for the class, the position and the orientation of a measurement object (16) and to verify these hypotheses, characterized in that the evaluation unit (32) is constructed to execute a plurality of different hypothesis tests cascaded in such a way, that only upon verification of a hypothesis by a hypothesis test is a subsequent hypothesis test carried out within this cascade, until either a hypothesis is falsified by the failure of a hypothesis test or a hypothesis is verified as a whole through a complete run through the cascade without falsification.
Specification