Orientation invariant object identification using model-based image processing
First Claim
1. A method of indentifying an object, comprising the steps of:
- a) storing dimensional information about a plurality of candidate objects;
b) imaging a target object to be identified with a camera;
c) rendering the stored dimensional information to a simulated image utilizing pose and environment information;
d) comparing the image of the target object to the stored dimensional information;
e) rotating and moving the image of the target object in three-dimensional space; and
f) wherein repeating steps c), d) and e) are performed by a processor and repeated to determine the best match or matches between the target object and the candidate objects.
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Accused Products
Abstract
A system for performing object identification combines pose determination, EO/IR sensor data, and novel computer graphics rendering techniques. A first module extracts the orientation and distance of a target in a truth chip given that the target type is known. A second is a module identifies the vehicle within a truth chip given the known distance and elevation angle from camera to target. Image matching is based on synthetic image and truth chip image comparison, where the synthetic image is rotated and moved through a 3-Dimensional space. To limit the search space, it is assumed that the object is positioned on relatively flat ground and that the camera roll angle stays near zero. This leaves three dimensions of motion (distance, heading, and pitch angle) to define the space in which the synthetic target is moved. A graphical user interface (GUI) front end allows the user to manually adjust the orientation of the target within the synthetic images. The system also includes the generation of shadows and allows the user to manipulate the sun angle to approximate the lighting conditions of the test range in the provided video.
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Citations
16 Claims
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1. A method of indentifying an object, comprising the steps of:
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a) storing dimensional information about a plurality of candidate objects; b) imaging a target object to be identified with a camera; c) rendering the stored dimensional information to a simulated image utilizing pose and environment information; d) comparing the image of the target object to the stored dimensional information; e) rotating and moving the image of the target object in three-dimensional space; and f) wherein repeating steps c), d) and e) are performed by a processor and repeated to determine the best match or matches between the target object and the candidate objects. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of indentifying a land vehicle, comprising the steps of:
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a) storing dimensional information about a plurality of candidate vehicles; b) imaging a target vehicle to be identified with a camera; c) rendering stored dimensional information to a simulated image utilizing pose and environment information; d) comparing the image of the target vehicle to the stored geometric information; e) rotating and moving the image of the target vehicle in three-dimensional space; f) wherein steps c), d) and e) are performed by a processor and repeated to determine the best match or matches between the target vehicle and the candidate vehicles. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16)
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Specification