Method and apparatus for collating object

• US 7,932,913 B2
• Filed: 11/26/2007
• Issued: 04/26/2011
• Est. Priority Date: 11/20/2000
• Status: Expired due to Term

• Current Assignee: NEC Corporation
• Original Assignee: NEC Corporation
• Inventors: Ishiyama, Rui
• Primary Examiner(s): Nguyen; Hau H
• Application Number:
  US11/944,952
• Publication Number:
  US 20080075359A1
• Time in Patent Office: 1,247 Days
• Field of Search: 345/582, 345/423, 345/419, 345/427, 345/607, 382/118, 382/218, 382/219
• US Class Current: 345/582
• CPC Class Codes: G06V 10/60 relating to illumination properties, e.g. using a reflectance or lighting model
• CPC Class Codes: G06V 10/758 Involving statistics of pixels or of feature values, e.g. histogram matching
• CPC Class Codes: G06V 40/168 Feature extraction; Face representation
• CPC Class Codes: G06V 40/171 Local features and components; Facial parts eye characteristics G06V40/18; Occluding parts, e.g. glasses; Geometrical relationships
• CPC Class Codes: G06V 40/172 Classification, e.g. identification

Abstract

An object collation method comprising a registration procedure for registering the registered data of a registered object in a database, and a collation procedure for collating the input image of a target object with the registered data. The registration procedure includes a step of storing the three-dimensional shape of the registered object and a texture space defined by a texture group indicating the luminance and/or color information of each position of the object surface under various illumination conditions. The collation procedure includes the steps of: generating an illumination fluctuation space defined by the image group under the various illumination conditions, at the location and position of the target object in the input image from the three-dimensional shape and the texture space; and collating the target object and the registered object based on the distance between the illumination fluctuation space and the input image.

Claims

1. A computer-readable medium having computer readable programs for causing a computer to function as:

means for measuring a three-dimensional shape of a registered object and reflectivity of a surface of the registered object;

means for generating a texture group indicating luminance and color information of each location of the surface of the registered object under various illumination conditions which are lit by light sources located at uniformly distributed directions all around the object, with generating shadows, by using said three-dimensional shape and said reflectivity;

means for generating a texture space, which is an image space, defined by a set of basis vectors obtained as eigenvectors of covariance matrix of said texture group by applying principal components analysis to said texture group; and

means for storing said three-dimensional shape and said texture space.

2. A computer-readable medium having computer readable programs for causing a computer to function as:

means for measuring a three-dimensional shape of a registered object;

means for taking an image group of the registered object by using a variety of illumination conditions which are lit by light sources located at uniformly distributed directions all around the object, with generating shadows, and for generating a texture coordinate system by using said three-dimensional shape, thereby to output a texture group by converting said image group into said texture coordinate system;

means for generating a texture space, which is an image space, defined by a set of basis vectors obtained as eigenvectors of covariance matrix of said texture group by applying principal components analysis to said texture group; and

means for storing said three-dimensional shape and said texture space.

3. A computer-readable medium having computer readable programs for causing a computer to function as:

means for measuring a three-dimensional shape of a registered object;

means for translating to make three-dimensional shapes of a plurality of registered objects to align their centers of gravity and for setting sections normal to an axis at a proper interval to calculate the average shapes in the individual sections; and

means for generating a texture space, which is an image space, defined by a set of basis vectors obtained as eigenvectors of covariance matrix of a texture group by applying principal components analysis to said texture group, said texture group indicating luminance and color information of each location of the surface of the registered object under various illuminating conditions which are lit by light sources located at uniformly distributed directions all around the object, with generating shadows; and

means for storing said average shapes and said texture space.

4. A computer-readable medium having computer readable programs for causing a computer to function as:

means for measuring a three-dimensional shape of a registered object and reflectivity of a surface of a registered object;

means for detecting location of a feature point and outputting a three-dimensional coordinate as the feature point location;

means for generating a texture group indicating luminance and color information of each location of the surface of the registered object under various illumination conditions which are lit by light sources located at uniformly distributed directions all around the object, with generating shadows, by using said three-dimensional shape and said reflectivity;

means for generating a texture space, which is an image space, defined by a set of basis vectors obtained as eigenvectors of covariance matrix of said texture group by applying principal components analysis to said texture group; and

means for storing said three-dimensional shape, said texture space and said feature point location.

5. A computer-readable medium having computer readable programs for causing a computer to function as:

means for inputting a three-dimensional shape of a registered object and reflectivity;

means for generating a texture group indicating luminance and color information of each location of a surface of the registered object surface under various illumination conditions which are lit by light sources located at uniformly distributed directions all around the object, with generating shadows, by using said three-dimensional shape and said reflectivity;

means for generating a texture space, which is an image space, defined by a set of basis vectors obtained as eigenvectors of covariance matrix of said texture group by applying principal components analysis to said texture group; and

means for storing said three-dimensional shape and said texture space.

6. An object registration method, comprising:

measuring a three-dimensional shape of a registered object and reflectivity of a surface of the registered object;

generating a texture group indicating luminance and color information of each location of the surface of the registered object under various illumination conditions which are lit by light sources located at uniformly distributed directions all around the object, with generating shadows, by using said three-dimensional shape and said reflectivity;

generating a texture space, which is an image space, defined by a set of basis vectors obtained as eigenvectors of covariance matrix of said texture group by applying principal components analysis to said texture group; and

storing said three-dimensional shape and said texture space.

7. An object registration method, comprising:

measuring a three-dimensional shape of a registered object;

taking an image group of the registered object by using a variety of illumination conditions which are lit by light sources located at uniformly distributed directions all around the object, with generating shadows, and for generating a texture coordinate system by using said three-dimensional shape, thereby to output a texture group by converting said image group into said texture coordinate system;

generating a texture space, which is an image space, defined by a set of basis vectors obtained as eigenvectors of covariance matrix of said texture group by applying principal components analysis to said texture group; and

storing said three-dimensional shape and said texture space.

8. An object registration method, comprising:

measuring a three-dimensional shape of a registered object;

translating to make three-dimensional shapes of a plurality of registered objects to align their centers of gravity and for setting sections normal to an axis at a proper interval to calculate the average shapes in the individual sections; and

generating a texture space, which is an image space, defined by a set of basis vectors obtained as eigenvectors of covariance matrix of a texture group by applying principal components analysis to said texture group, said texture group indicating luminance and color information of each location of the surface of the registered object under various illuminating conditions which are lit by light sources located at uniformly distributed directions all around the object, with generating shadows; and

storing said average shapes and said texture space.

9. An object registration method, comprising:

measuring a three-dimensional shape of a registered object and reflectivity of a surface of a registered object;

detecting location of a feature point and outputting a three-dimensional coordinate as the feature point location;

generating a texture group indicating luminance and color information of each location of the surface of the registered object under various illumination conditions which are lit by light sources located at uniformly distributed directions all around the object, with generating shadows, by using said three-dimensional shape and said reflectivity;

generating a texture space, which is an image space, defined by a set of basis vectors obtained as eigenvectors of covariance matrix of said texture group by applying principal components analysis to said texture group; and

storing said three-dimensional shape, said texture space and said feature point location.

10. An object registration method, comprising:

inputting a three-dimensional shape of a registered object and reflectivity;

generating a texture group indicating luminance and color information of each location of a surface of the registered object surface under various illumination conditions which are lit by light sources located at uniformly distributed directions all around the object, with generating shadows, by using said three-dimensional shape and said reflectivity;

generating a texture space, which is an image space, defined by a set of basis vectors obtained as eigenvectors of covariance matrix of said texture group by applying principal components analysis to said texture group; and

storing said three-dimensional shape and said texture space.

11. An object registration apparatus, comprising:

means for measuring a three-dimensional shape of a registered object and reflectivity of a surface of the registered object;

means for generating a texture group indicating luminance and color information of each location of the surface of the registered object under various illumination conditions which are lit by light sources located at uniformly distributed directions all around the object, with generating shadows, by using said three-dimensional shape and said reflectivity;

means for generating a texture space, which is an image space, defined by a set of basis vectors obtained as eigenvectors of covariance matrix of said texture group by applying principal components analysis to said texture group; and

means for storing said three-dimensional shape and said texture space.

12. An object registration apparatus, comprising:

means for measuring a three-dimensional shape of a registered object;

means for taking an image group of the registered object by using a variety of illumination conditions which are lit by light sources located at uniformly distributed directions all around the object, with generating shadows, and for generating a texture coordinate system by using said three-dimensional shape, thereby to output a texture group by converting said image group into said texture coordinate system;

means for generating a texture space, which is an image space, defined by a set of basis vectors obtained as eigenvectors of covariance matrix of said texture group by applying principal components analysis to said texture group; and

means for storing said three-dimensional shape and said texture space.

13. An object registration apparatus, comprising:

means for measuring a three-dimensional shape of a registered object;

means for translating to make three-dimensional shapes of a plurality of

registered objects to align their centers of gravity and for setting sections normal to an axis at a proper interval to calculate the average shapes in the individual sections; and

means for generating a texture space, which is an image space, defined by a set of basis vectors obtained as eigenvectors of covariance matrix of a texture group by applying principal components analysis to said texture group, said texture group indicating luminance and color information of each location of the surface of the registered object under various illuminating conditions which are lit by light sources located at uniformly distributed directions all around the object, with generating shadows; and

means for storing said average shapes and said texture space.

14. An object registration apparatus, comprising:

means for measuring a three-dimensional shape of a registered object and reflectivity of a surface of a registered object;

means for detecting location of a feature point and outputting a three-dimensional coordinate as the feature point location;

means for generating a texture group indicating luminance and color information of each location of the surface of the registered object under various illumination conditions which are lit by light sources located at uniformly distributed directions all around the object, with generating shadows, by using said three-dimensional shape and said reflectivity;

means for generating a texture space, which is an image space, defined by a set of basis vectors obtained as eigenvectors of covariance matrix of said texture group by applying principal components analysis to said texture group; and

means for storing said three-dimensional shape, said texture space and said feature point location.

15. An object registration apparatus, comprising:

means for inputting a three-dimensional shape of a registered object and reflectivity;

means for generating a texture group indicating luminance and color information of each location of a surface of the registered object surface under various illumination conditions which are lit by light sources located at uniformly distributed directions all around the object, with generating shadows, by using said three-dimensional shape and said reflectivity;

means for generating a texture space, which is an image space, defined by a set of basis vectors obtained as eigenvectors of covariance matrix of said texture group by applying principal components analysis to said texture group; and

means for storing said three-dimensional shape and said texture space.