SYSTEM AND METHOD FOR THREE-DIMENSIONAL ALIGNMENT OF OBJECTS USING MACHINE VISION
First Claim
1. A system for determining alignment of an object in three dimensional space (3D) comprising:
- one or more 3D sensors and one or more processing elements constructed and arranged to generate a 3D representation of a scene;
a feature extraction process that generates found 3D higher level geometric shapes (HLGS) of the scene from the 3D representation; and
a correspondence process that compares the found 3D HLGS to a model 3D HLGS to generate one or more candidate 3D poses of one or more objects in the scene, the correspondence process being constructed and arranged to score the plurality of candidate 3D poses and select at least one high-scoring pose based upon a sufficiently high score.
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Abstract
This invention provides a system and method for determining the three-dimensional alignment of a modeledobject or scene. After calibration, a 3D (stereo) sensor system views the object to derive a runtime 3D representation of the scene containing the object. Rectified images from each stereo head are preprocessed to enhance their edge features. A stereo matching process is then performed on at least two (a pair) of the rectified preprocessed images at a time by locating a predetermined feature on a first image and then locating the same feature in the other image. 3D points are computed for each pair of cameras to derive a 3D point cloud. The 3D point cloud is generated by transforming the 3D points of each camera pair into the world 3D space from the world calibration. The amount of 3D data from the point cloud is reduced by extracting higher-level geometric shapes (HLGS), such as line segments. Found HLGS from runtime are corresponded to HLGS on the model to produce candidate 3D poses. A coarse scoring process prunes the number of poses. The remaining candidate poses are then subjected to a further more-refined scoring process. These surviving candidate poses are then verified by, for example, fitting found 3D or 2D points of the candidate poses to a larger set of corresponding three-dimensional or two-dimensional model points, whereby the closest match is the best refined three-dimensional pose.
147 Citations
28 Claims
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1. A system for determining alignment of an object in three dimensional space (3D) comprising:
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one or more 3D sensors and one or more processing elements constructed and arranged to generate a 3D representation of a scene; a feature extraction process that generates found 3D higher level geometric shapes (HLGS) of the scene from the 3D representation; and a correspondence process that compares the found 3D HLGS to a model 3D HLGS to generate one or more candidate 3D poses of one or more objects in the scene, the correspondence process being constructed and arranged to score the plurality of candidate 3D poses and select at least one high-scoring pose based upon a sufficiently high score. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A method for determining alignment of an object in three dimensional (3D) space comprising:
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generating, with one or more 3D sensors and one or more processing elements, a 3D representation of a scene; extracting features so as to generate found 3D higher level geometric shapes (HLGS) of the scene from the 3D representation; and
corresponding the found 3D HLGS to a model 3D HLGS to generate one or more candidate 3D poses of one or more objects in the scene, including scoring the one or more candidate 3D poses and selecting at least one high-scoring pose based upon a sufficiently high score. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27)
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28. A method for determining alignment of an object in three dimensional (3D) space comprising:
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generating, with one or more 3D sensors and one or more processing elements, a 3D representation of a scene; extracting features so as to generate found 3D higher level geometric shapes (HLGS) of the scene from the 3D representation; and corresponding the found 3D HLGS to a model 3D HLGS to generate one or more candidate 3D poses of one or more objects in the scene, including scoring the one or more candidate 3D poses and selecting at least one high-scoring pose based upon a sufficiently high score.
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Specification