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SYSTEM AND METHOD FOR TRAINING A MODEL IN A PLURALITY OF NON-PERSPECTIVE CAMERAS AND DETERMINING 3D POSE OF AN OBJECT AT RUNTIME WITH THE SAME

  • US 20120147149A1
  • Filed: 12/08/2010
  • Published: 06/14/2012
  • Est. Priority Date: 12/08/2010
  • Status: Active Grant
First Claim
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1. A method for determining a 3D pose of an object during runtime operation of a 3D vision system comprising the steps of:

  • orienting at least a first non-perspective camera assembly and a second non-perspective camera assembly with respect to the object so that a first non-perspective image is acquired by the first non-perspective camera assembly and a second non-perspective image is contemporaneously acquired by the second non-perspective camera;

    searching for 2D model features in the first non-perspective image based upon a first model;

    searching for 2D model features in the second non-perspective image based upon a second model in which the second model is a trained descendant of the first model; and

    determining 3D pose of the object based upon locations of the 2D model features in the first non-perspective image and the second non-perspective image.

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