×

SYSTEM AND METHOD FOR LOCATING A THREE-DIMENSIONAL OBJECT USING MACHINE VISION

  • US 20080298672A1
  • Filed: 05/29/2007
  • Published: 12/04/2008
  • Est. Priority Date: 05/29/2007
  • Status: Active Grant
First Claim
Patent Images

1. A method for registering an object in three dimensions using machine vision comprising the steps of:

  • at training time, acquiring training images of an object used for training with one or more cameras;

    at runtime, acquiring runtime images of an object to be registered at runtime with the one or more cameras; and

    determining a three dimensional pose transformation between the pose of the object used training time and the pose of the object to be registered at runtime by(a) defining features in each of the runtime images as three-dimensional rays through an origin of each of the one or more camera'"'"'s, respectively,(b) matching the three-dimensional rays to corresponding runtime features from the training images, and(c) computing an optimal pose estimate which maps the training features onto the corresponding three-dimensional rays of runtime features using iterative, reweighted least squares analysis.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×