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Object instance identification using template textured 3-D model matching

  • US 9,128,188 B1
  • Filed: 07/15/2013
  • Issued: 09/08/2015
  • Est. Priority Date: 07/13/2012
  • Status: Active Grant
First Claim
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1. A method of identifying a target in a scene, comprising:

  • receiving target parameter values for a plurality of target parameters for a target hypothesis, wherein said plurality of target parameters are selected from the group of parameters describing location and orientation of said target in a range image of said scene, wherein said range image R is mathematically defined as R={(rij), i=1, . . . b, j=1 . . . c}, where b represents the number of columns of pixels in said sensor range image, c represents the number of rows of pixels in said sensor range image, and rij represents the range between an object at point ij in said sensor range image and a range sensor;

    providing intensity imagery of said scene generated by an intensity imaging sensor;

    electronically generating a synthetic range image of said scene for said target hypothesis by rendering a 3-D wire grid model of a plurality of 3-D wire models of targets to be identified at said target parameter values;

    wherein one of said plurality of 3-D models has a surface which is a match to a surface of said target, where said synthetic range image Rs is mathematically defined as Rs={rijs, i=1, . . . b, j=1 . . . c}, where b represents the number of columns of pixels in said sensor range image, c represents the number of rows of pixels in said sensor range image, and rijs represents the range between an object at point ij in said synthetic range image and said range sensor;

    electronically computing a geometrical matching score C for said target hypothesis, where said geometrical matching score C is mathematically defined as

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