System and method for detecting an object in a high dimensional space
First Claim
1. A method for detecting an object in a high dimensional image space comprising:
- receiving a three dimensional image of an object;
training, by a processor, a first classifier in the marginal space of the object center location which generates a predetermined number of candidate object center locations;
training, by the processor, a second classifier to identify potential object center locations and orientations from the predetermined number of candidate object center locations and maintaining a subset of the candidate object center locations;
training, by the processor, a third classifier to identify potential locations, orientations and scale of the object center from the subset of the candidate object center locations; and
identifying a single candidate object pose for the object.
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Abstract
A system and method for detecting an object in a high dimensional image space is disclosed. A three dimensional image of an object is received. A first classifier is trained in the marginal space of the object center location which generates a predetermined number of candidate object center locations. A second classifier is trained to identify potential object center locations and orientations from the predetermined number of candidate object center locations and maintaining a subset of the candidate object center locations. A third classifier is trained to identify potential locations, orientations and scale of the object center from the subset of the candidate object center locations. A single candidate object pose for the object is identified.
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Citations
18 Claims
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1. A method for detecting an object in a high dimensional image space comprising:
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receiving a three dimensional image of an object; training, by a processor, a first classifier in the marginal space of the object center location which generates a predetermined number of candidate object center locations; training, by the processor, a second classifier to identify potential object center locations and orientations from the predetermined number of candidate object center locations and maintaining a subset of the candidate object center locations; training, by the processor, a third classifier to identify potential locations, orientations and scale of the object center from the subset of the candidate object center locations; and identifying a single candidate object pose for the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system for detecting objects in a high dimensional image space comprising:
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an acquisition device for acquiring three dimensional images of an object; a processor that receives the acquired three dimensional images of the object, the processor performing the following steps on each image; training a first classifier in the marginal space of the object center location which generates a predetermined number of candidate object center locations, training a second classifier to identify potential object center locations and orientations from the predetermined number of candidate object center locations and maintaining a subset of the candidate object center locations, training a third classifier to identify potential locations, orientations and scale of the object center from the subset of the candidate object center locations, and identifying a single candidate object pose for the object; and a display for displaying the detected object. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification