Method and System for Dynamic Feature Detection
First Claim
1. A method for measuring a plurality of object features on an object, comprising:
- providing relative motion between the object and a field of view of a sensor;
capturing a sequence of images of the field of view;
detecting, for each image of the sequence of images, a set of static features;
storing in a memory a plurality of dynamic features corresponding to the plurality of object features, each dynamic feature comprising at least one measurement of a physical property of the corresponding object feature;
analyzing, for each image of the sequence of images, the set of static features and the stored plurality of dynamic features so as to determine a map, the map comprisinga pose that maps between points on the object and points in the image, the pose comprising at least one degree of freedom; and
an association that maps dynamic features to corresponding static features; and
updating at least one dynamic feature, responsive to the map, so as to improve at least one measurement of a physical property of the corresponding object feature.
1 Assignment
0 Petitions
Accused Products
Abstract
Disclosed are methods and systems for dynamic feature detection of physical features of objects in the field of view of a sensor. Dynamic feature detection substantially reduces the effects of accidental alignment of physical features with the pixel grid of a digital image by using the relative motion of objects or material in and/or through the field of view to capture and process a plurality of images that correspond to a plurality of alignments. Estimates of the position, weight, and other attributes of a feature are based on an analysis of the appearance of the feature as it moves in the field of view and appears at a plurality of pixel grid alignments. The resulting reliability and accuracy is superior to prior art static feature detection systems and methods.
-
Citations
22 Claims
-
1. A method for measuring a plurality of object features on an object, comprising:
-
providing relative motion between the object and a field of view of a sensor; capturing a sequence of images of the field of view; detecting, for each image of the sequence of images, a set of static features; storing in a memory a plurality of dynamic features corresponding to the plurality of object features, each dynamic feature comprising at least one measurement of a physical property of the corresponding object feature; analyzing, for each image of the sequence of images, the set of static features and the stored plurality of dynamic features so as to determine a map, the map comprising a pose that maps between points on the object and points in the image, the pose comprising at least one degree of freedom; and an association that maps dynamic features to corresponding static features; and updating at least one dynamic feature, responsive to the map, so as to improve at least one measurement of a physical property of the corresponding object feature. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
-
12. A system for measuring a plurality of object features on an object, comprising:
-
a sensor having a field of view; a motion process that provides relative motion between the object and the field of view of the sensor; a capture process that captures a sequence of images of the field of view; a static feature detection process that detects, for each image of the sequence of images, a set of static features; a memory that stores a plurality of dynamic features corresponding to the plurality of object features, each dynamic feature comprising at least one measurement of a physical property of the corresponding object feature; an analysis process that analyzes, for each image of the sequence of images, the set of static features and the stored plurality of dynamic features so as to determine a map, the map comprising a pose that maps between points on the object and points in the image, the pose comprising at least one degree of freedom; and an association that maps dynamic features to corresponding static features; and a learning process that updates at least one dynamic feature, responsive to the map, so as to improve at least one measurement of a physical property of the corresponding object feature. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
-
Specification