Method and apparatus for determining angular pose of an object
First Claim
1. A method of calculating an angular pose of a known object comprising:
- providing a sample image of the known object having an assumed pose;
calculating a series of projection sums across the sample image over a range of different angles about a selected point and organizing the projection sums into a two dimensional array based on the angles at which the projection sums were calculated;
providing a first image of the known object, the angular pose of the known object shown in the first image being unknown;
calculating a projection sum across the first image at an assumed angle; and
comparing the projection sum across the first image against the two dimensional array and selecting the angle whose projection sum best compares to the projection sum of the first image.
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Abstract
The present invention is operative to determine the angular pose of an assumed object. A series of projection sums are calculated from a sample image of the known object where the known object has an assumed pose. The projection sums are calculated for a range of angles and organized into a two dimensional array coined a projection image. An image of the known object is provided where the known object has an unknown pose. A projection sum is calculated across the image of the known object with the unknown pose preferably at the perpendicular. This projection sum is correlated against the projection image and the angle corresponding to the best correlation is determined to be the angular pose of the known object.
34 Citations
20 Claims
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1. A method of calculating an angular pose of a known object comprising:
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providing a sample image of the known object having an assumed pose; calculating a series of projection sums across the sample image over a range of different angles about a selected point and organizing the projection sums into a two dimensional array based on the angles at which the projection sums were calculated; providing a first image of the known object, the angular pose of the known object shown in the first image being unknown; calculating a projection sum across the first image at an assumed angle; and comparing the projection sum across the first image against the two dimensional array and selecting the angle whose projection sum best compares to the projection sum of the first image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A computer readable medium for use in a machine vision system, the computer readable medium being configured to determine the angular pose of a known object comprising:
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means for calculating a series of projection sums across a sample image of the known object over a range of different angles about a selected point, the sample image of the known object having an assumed angular pose; means for organizing the projection sums into a two dimensional array based on the angles at which the projection sums were calculated; means for calculating a projection sum across a first image of the known object, where the known object has an unknown angular pose, the projection sum being calculated at an assumed angle; means for comparing the projection sum across the first image against the two dimensional array; and means for selecting the angle whose projection sum best compares to the projection sum of the first image. - View Dependent Claims (16, 17, 18, 19)
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20. A method of calculating an angular pose of a known object comprising:
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providing a sample image of a first known object having an assumed pose; selecting a start angle and a stop angle about a selected point on the sample image defining a range of different angles between the start angle and the stop angle; selecting an incremental angle about the selected point based on the pattern recognition technique to be used; extending a plurality of projection summation lines across the sample image for each angle within the range of angles based on the selected incremental angle; identifying the pixel values covered by each projection summation line; calculating a plurality of projection sums of the respective pixel values for each summation line for each angle within the range of angles based on the incremental angle; organizing the projection sums from the sample image into a two dimensional array having a plurality of rows, each row of the two dimensional array including the projection sums for one of the angles at which the projection sum was calculated; providing a first image of a second known object, the angular pose of the second known object shown in the first image being unknown; calculating a projection sum across the first image at an angle within the range of angles used for the sample image; and comparing the projection sum across the first image against the two dimensional array and selecting the angle whose projection sum best compares to the projection sum of the first image.
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Specification