Voting-Based Pose Estimation for 3D Sensors
First Claim
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1. A method for estimating a pose of an object, comprising the steps of:
- defining a set of pair features as pairs of geometric primitives, wherein the geometric primitives include oriented surface points, oriented boundary points, and boundary line segments;
determining model pair features based on the set of pair features for a model of the object;
determining scene pair features based on the set of pair features from data acquired by a 3D sensor; and
matching the model pair features with the scene pair features to estimate the pose of the object, wherein the steps are performed in a processor.
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Abstract
A pose of an object is estimated by first defining a set of pair features as pairs of geometric primitives, wherein the geometric primitives include oriented surface points, oriented boundary points, and boundary line segments. Model pair features are determined based on the set of pair features for a model of the object. Scene pair features are determined based on the set of pair features from data acquired by a 3D sensor, and then the model pair features are matched with the scene pair features to estimate the pose of the object.
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Citations
15 Claims
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1. A method for estimating a pose of an object, comprising the steps of:
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defining a set of pair features as pairs of geometric primitives, wherein the geometric primitives include oriented surface points, oriented boundary points, and boundary line segments; determining model pair features based on the set of pair features for a model of the object; determining scene pair features based on the set of pair features from data acquired by a 3D sensor; and matching the model pair features with the scene pair features to estimate the pose of the object, wherein the steps are performed in a processor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification