ROTATION INVARIANT OBJECT DETECTION
First Claim
1. A method, comprising:
- receiving a two-dimensional image of a three-dimensional object recorded at a first angle of rotation of the object;
identifying, in the two-dimensional image, a set of image descriptors, each of the image descriptors comprising an image keypoint and one or more image features;
comparing the set of image descriptors against a plurality of sets of template descriptors for respective previously captured two-dimensional images, each of the template descriptors comprising a template keypoint and one or more template features;
identifying, based on a defined threshold, a given set of template descriptors matching the set of image descriptors, the given set of template descriptors corresponding to a given previously captured two-dimensional image of the three-dimensional object recorded at a second angle of rotation of the object; and
adding, to the given set of template descriptors, any of the image descriptors not in the given set of the of template descriptors.
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Accused Products
Abstract
A method, including receiving a two-dimensional (2D) image of a three-dimensional (3D) object recorded at a first angle of rotation of the object, and identifying, in the 2D image, a set of image descriptors, each of the image descriptors including an image keypoint and one or more image features. The set of image descriptors are compared against sets of template descriptors for respective previously captured 2D images, each of the template descriptors comprising a template keypoint and one or more template features. Using a threshold, a given set of template descriptors matching the set of image descriptors are identified, the given set of template descriptors corresponding to a given previously captured 2D image of the 3D object recorded at a second angle of rotation of the object. Any of the image descriptors not in the given set of the template descriptors are added to the given set of template descriptors.
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Citations
18 Claims
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1. A method, comprising:
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receiving a two-dimensional image of a three-dimensional object recorded at a first angle of rotation of the object; identifying, in the two-dimensional image, a set of image descriptors, each of the image descriptors comprising an image keypoint and one or more image features; comparing the set of image descriptors against a plurality of sets of template descriptors for respective previously captured two-dimensional images, each of the template descriptors comprising a template keypoint and one or more template features; identifying, based on a defined threshold, a given set of template descriptors matching the set of image descriptors, the given set of template descriptors corresponding to a given previously captured two-dimensional image of the three-dimensional object recorded at a second angle of rotation of the object; and adding, to the given set of template descriptors, any of the image descriptors not in the given set of the of template descriptors. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An apparatus, comprising:
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a storage device configured to store multiple sets of template descriptors for respective previously captured two-dimensional images, each of the template descriptors comprising a template keypoint and one or more template features; and a processor configured; to receive a two-dimensional image of a three-dimensional object recorded at a first angle of rotation of the object, to identify, in the two-dimensional image, a set of image descriptors, each of the image descriptors comprising an image keypoint and one or more image features, to compare the set of image descriptors against the multiple sets of template descriptors, to identify, based on a defined threshold, a given set of template descriptors matching the set of image descriptors, the given set of template descriptors corresponding to a given previously captured two-dimensional image of the three-dimensional object recorded at a second angle of rotation of the object, and to add, to the given set of template descriptors, any of the image descriptors not in the given set of the of template descriptors. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A computer program product, the computer program product comprising:
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a non-transitory computer readable storage medium having computer readable program code embodied therewith, the computer readable program code comprising; computer readable program code configured to receive a two-dimensional image of a three-dimensional object recorded at a first angle of rotation of the object; computer readable program code configured to identify, in the two-dimensional image, a set of image descriptors, each of the image descriptors comprising an image keypoint and one or more image features; computer readable program code configured to compare the set of image descriptors against a plurality of sets of template descriptors for respective previously captured two-dimensional images, each of the template descriptors comprising a template keypoint and one or more template features; computer readable program code configured to identify, based on a defined threshold, a given set of template descriptors matching the set of image descriptors, the given set of template descriptors corresponding to a given previously captured two-dimensional image of the three-dimensional object recorded at a second angle of rotation of the object; and computer readable program code configured to add, to the given set of template descriptors, any of the image descriptors not in the given set of the of template descriptors. - View Dependent Claims (14, 15, 16, 17, 18)
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Specification