System and method for 3D object recognition
First Claim
1. A method for transforming an object into an electronic 3-D model for 3D object recognition comprising the following steps:
- (a) providing the interior parameters of a camera using a computer processor;
(b) providing a geometric representation of a 3D object;
(c) providing a range of poses in which the 3D object may appear with respect to the camera by (c1) providing a range of positions by providing intervals for coordinate and (c2) providing a range of orientations by providing intervals for angles;
(d) creating virtual views of the 3D object by sampling the range of poses for different image resolutions;
(e) representing all views by a tree structure where views that correspond to the same image resolution reside at the same hierarchy level in the tree; and
(f) for each view creating a 2D model that can be used to find the 2D view in an image by using an appropriate 2D matching approach.
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Accused Products
Abstract
The present invention provides a system and method for recognizing a 3D object in a single camera image and for determining the 3D pose of the object with respect to the camera coordinate system. In one typical application, the 3D pose is used to make a robot pick up the object. A view-based approach is presented that does not show the drawbacks of previous methods because it is robust to image noise, object occlusions, clutter, and contrast changes. Furthermore, the 3D pose is determined with a high accuracy. Finally, the presented method allows the recognition of the 3D object as well as the determination of its 3D pose in a very short computation time, making it also suitable for real-time applications. These improvements are achieved by the methods disclosed herein.
73 Citations
45 Claims
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1. A method for transforming an object into an electronic 3-D model for 3D object recognition comprising the following steps:
- (a) providing the interior parameters of a camera using a computer processor;
(b) providing a geometric representation of a 3D object;
(c) providing a range of poses in which the 3D object may appear with respect to the camera by (c1) providing a range of positions by providing intervals for coordinate and (c2) providing a range of orientations by providing intervals for angles;
(d) creating virtual views of the 3D object by sampling the range of poses for different image resolutions;
(e) representing all views by a tree structure where views that correspond to the same image resolution reside at the same hierarchy level in the tree; and
(f) for each view creating a 2D model that can be used to find the 2D view in an image by using an appropriate 2D matching approach. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
- (a) providing the interior parameters of a camera using a computer processor;
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29. A method for electronically recognizing a 3D object and for determining its 3D pose from one image of the object comprising the following steps:
- (a) providing a 3D model of the 3D object using a computer processor;
(b) providing an electronic search image of the 3D object;
(c) creating a representation of the electronic search image containing different resolutions of the electronic search image;
(d) matching the 2D models that do not have a parent view in a hierarchical tree structure to a respective level of an image pyramid of the search image;
(e) verifying and refining the 2D matches of a top pyramid level by tracking them down to a lowest pyramid level;
(f) determining an initial 3D pose from the 2D matches matching pose and the respective 3D pose; and
(g) refining the said initial 3D poses. - View Dependent Claims (30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45)
- (a) providing a 3D model of the 3D object using a computer processor;
Specification