System for determining the pose of an object which utilizes range profiles and synethic profiles derived from a model
First Claim
1. A method of determining the 3-D position and orientation of an object relative to a scanning device, given a surface model of the object, range profiles that have been acquired by scanning the object, and the object'"'"'s approximate location defined by the 3-D position and orientation relative to the scanning device, the method comprising the steps of:
- a) generating a set of at least 2 synthetic 2-D profiles of the object from a model of the object by simulating how the scanning device would have scanned the object if the object were located at the approximate 3-D location;
b) searching through the acquired range profiles to select a subset of these profiles whose 2-D waveforms most closely match the 2-D waveforms of the set of synthetic profiles;
c) determining the amount of 2-D translational and rotational offset between the 2-D waveforms of the synthetic profiles and the 2-D waveforms of the acquired range profiles that produced this most close match;
d) calculating a correction of the approximate three dimensional position and orientation of the model representing the object from these 2-D offsets between the synthetic profiles and the acquired range profiles that produced the best match in step (b) to obtain a closer approximate 3-D position and orientation of the object; and
,e) repeating steps (a) to (d) until the correction is below a predetermined threshold.
1 Assignment
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Accused Products
Abstract
A method for determining the 3-D pose of an object is provided assuming that an approximate pose of the object is known. As a laser range camera scans the object, depth profiles of the object are obtained and stored in a memory. Synthetic profiles are obtained from a model of the object that has been oriented to the assumed pose of the object, by using a conventional raster rendering technique to obtain a series of slices of the model. Once this synthetic profile signature of the model of the object is generated, a comparison is performed between this profile signature and the profiles obtained from the laser range camera. When a suitable match is found, a correction to the 3-D pose is calculated from the offset parameters associated with the match; further refinement may be performed by repeating the process.
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Citations
4 Claims
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1. A method of determining the 3-D position and orientation of an object relative to a scanning device, given a surface model of the object, range profiles that have been acquired by scanning the object, and the object'"'"'s approximate location defined by the 3-D position and orientation relative to the scanning device, the method comprising the steps of:
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a) generating a set of at least 2 synthetic 2-D profiles of the object from a model of the object by simulating how the scanning device would have scanned the object if the object were located at the approximate 3-D location; b) searching through the acquired range profiles to select a subset of these profiles whose 2-D waveforms most closely match the 2-D waveforms of the set of synthetic profiles; c) determining the amount of 2-D translational and rotational offset between the 2-D waveforms of the synthetic profiles and the 2-D waveforms of the acquired range profiles that produced this most close match; d) calculating a correction of the approximate three dimensional position and orientation of the model representing the object from these 2-D offsets between the synthetic profiles and the acquired range profiles that produced the best match in step (b) to obtain a closer approximate 3-D position and orientation of the object; and
,e) repeating steps (a) to (d) until the correction is below a predetermined threshold. - View Dependent Claims (2, 3, 4)
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Specification