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System and method for 3D object recognition

  • US 8,379,014 B2
  • Filed: 02/20/2008
  • Issued: 02/19/2013
  • Est. Priority Date: 10/11/2007
  • Status: Active Grant
First Claim
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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.

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