Strict recognizing apparatus using observation point
First Claim
1. A strict recognizing apparatus implemented on a computer using an observation point in estimating a parameter describing an environment using a set of characteristic points obtained by observing the environment and an object model implying shape information of an object assumed to exist in the environment, comprising:
- restricted parameter space storing means for storing a restricted parameter space as a space in the parameter generated based on the object model and restricted by predetermined observation point information corresponding to the shape information about the object model;
voting means for voting for a subset of parameters matching the object model in each of the characteristic points in the restricted parameter space; and
parameter estimating means for outputting an estimated value of the parameter describing the environment corresponding to a voting result for a voting space in the restricted parameter space after taking votes for all of the characteristic points.
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Abstract
A recognizing apparatus for estimating an environment description parameter, and substantially reducing a memory capacity required to represent a parameter space. The recognizing apparatus stores a restricted parameter space as a parameter space restricted by predetermined observation point information and based on an object model as shape information. The apparatus votes for a parameter subset consistent with the object model for each characteristic point obtained through environment observation in a restricted parameter space. The apparatus then outputs an estimated value for a environment description parameter according to the result of the voting for the restricted parameter space.
42 Citations
10 Claims
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1. A strict recognizing apparatus implemented on a computer using an observation point in estimating a parameter describing an environment using a set of characteristic points obtained by observing the environment and an object model implying shape information of an object assumed to exist in the environment, comprising:
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restricted parameter space storing means for storing a restricted parameter space as a space in the parameter generated based on the object model and restricted by predetermined observation point information corresponding to the shape information about the object model; voting means for voting for a subset of parameters matching the object model in each of the characteristic points in the restricted parameter space; and parameter estimating means for outputting an estimated value of the parameter describing the environment corresponding to a voting result for a voting space in the restricted parameter space after taking votes for all of the characteristic points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for estimating a parameter describing an environment using a set of characteristic points obtained by observing the environment and an object model implying shape information of an object assumed to exist in the environment, including a computer-readable storage medium and a computer, comprising the steps of:
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storing a restricted parameter space as a space in the parameter generated based on the object model and restricted by predetermined observation point information corresponding to the shape information about the object model; storing a voting space in which a vote is taken for a subset of parameters as matching the object model in each of the characteristic points in the restricted parameter space; and outputting an estimated value of the parameter describing the environment corresponding to a voting result for a voting space in the restricted parameter space after taking votes for all of the characteristic points.
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10. A strict recognizing method implemented on a computer using an observation point in estimating a parameter describing an environment using a set of characteristic points obtained by observing the environment and an object model implying shape information of an object assumed to exist in the environment, comprising the steps of:
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storing a restricted parameter space as a space in the parameter generated based on the object model and restricted by predetermined observation point information corresponding to the shape information about the object model; voting for a subset of parameters as matching the object model in each of the characteristic points in the restricted parameter space; and outputting an estimated value of the parameter describing the environment corresponding to a voting result for a voting space in the restricted parameter space after taking votes for all of the characteristic points.
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Specification