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Pose determination and tracking by matching 3D objects to a 2D sensor

  • US 6,173,066 B1
  • Filed: 05/21/1997
  • Issued: 01/09/2001
  • Est. Priority Date: 05/21/1996
  • Status: Expired due to Term
First Claim
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1. A method of recognizing three-dimensional objects through parameter zoning, comprising the steps of:

  • a) receiving data characterizing a three-dimensional object;

    b) performing a transformation on the data to generate a projected image of at least a portion of the object;

    c) subdividing the projected image into a zoned image containing a single object feature event describable in terms of X, Y, Z estimation space and pitch, roll, yaw angle space;

    d) receiving a digitized scene from one or more sensors;

    e) selecting an area of interest from the scene;

    f) subdividing the area of interest into a zoned area of interest by;

    zoning the initial pitch, roll, yaw angle space into a predetermined number of angular steps, and zoning the initial X, Y, Z estimation space using angular subdivisions;

    g) comparing the zoned image to the zoned area of interest; and

    h) repeating steps b), c), d) and g) to determine if the portion of the object is contained within the zoned area of interest.

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