Method and apparatus for object pose estimation
US8467596B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 30, 2011 |
| Grant date | Jun 18, 2013 |
| Priority date | — |
| Expiry date | Sep 9, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V20/647
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A pose of an object is estimated from an from an input image and an object pose estimation is then stored by: inputting an image containing an object; creating a binary mask of the input image; extracting a set of singlets from the binary mask of the input image, each singlet representing points in an inner and outer contour of the object in the input image; connecting the set of singlets into a mesh represented as a duplex matrix; comparing two duplex matrices to produce a set of candidate poses; and producing an object pose estimate, and storing the object pose estimate. The estimated pose of the object is refined by: inputting an image of an object in an estimated pose, a model of the object, and parameters of a camera used to take the image of the object in the estimated pose; projecting the model of the object into a virtual image of the object using the parameters of the camera and initial pose parameters to obtain a binary mask image and image depth information; and updating the initial pose parameters to new pose parameters using the binary mask image and image depth information and updating the new pose parameters iteratively to minimize an energy function or until a maxim…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.