Method for fast, robust, multi-dimensional pattern recognition
DC CAFCFirst Claim
1. A method for determining the presence or absence of at least one instance of a predetermined pattern in a run-time image, and for determining the multidimensional location (pose) of each present instance, the method comprising:
- providing a model that represents the pattern to be found, the model including a plurality of probes, each probe representing a relative position at which at least one test is performed in an image at a given pose, each such test contributing evidence that the pattern exists at the pose;
providing the run-time image;
comparing the model with the run-time image at each of a plurality of poses;
computing a match score at each pose to provide a match score surface;
locating local maxima in the match score surface;
comparing the magnitude of each local maxima with an accept threshold; and
returning the location of each local maxima with magnitude that exceeds the accept threshold so as to provide the location any instances of the pattern in the image.
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Abstract
Disclosed is a method for determining the absence or presence of one or more instances of a predetermined pattern in an image, and for determining the location of each found instance within a multidimensional space. A model represents the pattern to be found, the model including a plurality of probes. Each probe represents a relative position at which a test is performed in an image at a given pose, each such test contributing evidence that the pattern exists at the pose. The method further includes a comparison of the model with a run-time image at each of a plurality of poses. A match score is computed at each pose to provide a match score surface. Then, the match score is compared with an accept threshold, and used to provide the location any instances of the pattern in the image.
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Citations
35 Claims
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1. A method for determining the presence or absence of at least one instance of a predetermined pattern in a run-time image, and for determining the multidimensional location (pose) of each present instance, the method comprising:
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providing a model that represents the pattern to be found, the model including a plurality of probes, each probe representing a relative position at which at least one test is performed in an image at a given pose, each such test contributing evidence that the pattern exists at the pose; providing the run-time image; comparing the model with the run-time image at each of a plurality of poses; computing a match score at each pose to provide a match score surface; locating local maxima in the match score surface; comparing the magnitude of each local maxima with an accept threshold; and returning the location of each local maxima with magnitude that exceeds the accept threshold so as to provide the location any instances of the pattern in the image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 35)
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29. The method of clam 28, wherein all probe weights are 1.
Specification