Systems and methods for automatically determining 3-dimensional object information and for controlling a process based on automatically-determined 3-dimensional object information
First Claim
1. A method for identifying an object appearing in an image, the image having a plurality of pixels, each pixel having an image value, and containing at least one object of at least one type of object to be identified, each type of object to be identified represented by a 3-dimensional model, each 3-dimensional model including edges and spatial relationships between the edges, the method comprising:
- analyzing the plurality of pixels to determine a plurality of line-like features in the image;
grouping at least some of the line-like features into at least one viewpoint-invariant line group, each determined viewpoint-invariant line group corresponding to at least one spatial relationship between edges of at least one of the 3-dimensional models;
analyzing at least one determined viewpoint-invariant line group to identify, for each such determined viewpoint-invariant line group, a 2-dimensional projection of one of the at least one 3-dimensional models that corresponds to that determined viewpoint-invariant line group; and
identifying, for at least one determined viewpoint-invariant line group for which there is a 2-dimensional projection of one of the at least one 3-dimensional models, that viewpoint-invariant line group as corresponding to an object appearing in the image.
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Abstract
An image containing one or more types of objects to be located is analyzed to locate linear features within the image. The objects have edges having known spatial relationships. The linear features and identified virtual lines are analyzed to find groups of linear features and/or virtual lines that have one of the known spatial relationships. These relationships can include parallel edges, edges that meet at certain angles or angle ranges, the number of lines meeting a vertex and the like. The identified group is compared with projected 2-dimensional representation(s) of the object(s) to determine whether any additional lines appear in the image that are part of the located object. In various exemplary embodiments, two or more hypotheses for how the identified group of linear features maps to the 3-dimensional representation of the object can be generated. The best fitting hypothesis becomes the recognized 3-dimensional shape and orientation for that object.
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Citations
9 Claims
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1. A method for identifying an object appearing in an image, the image having a plurality of pixels, each pixel having an image value, and containing at least one object of at least one type of object to be identified, each type of object to be identified represented by a 3-dimensional model, each 3-dimensional model including edges and spatial relationships between the edges, the method comprising:
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analyzing the plurality of pixels to determine a plurality of line-like features in the image; grouping at least some of the line-like features into at least one viewpoint-invariant line group, each determined viewpoint-invariant line group corresponding to at least one spatial relationship between edges of at least one of the 3-dimensional models; analyzing at least one determined viewpoint-invariant line group to identify, for each such determined viewpoint-invariant line group, a 2-dimensional projection of one of the at least one 3-dimensional models that corresponds to that determined viewpoint-invariant line group; and identifying, for at least one determined viewpoint-invariant line group for which there is a 2-dimensional projection of one of the at least one 3-dimensional models, that viewpoint-invariant line group as corresponding to an object appearing in the image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification