Object recognition method, object recognition apparatus, and autonomous mobile robot
US8630456B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | May 12, 2009 |
| Grant date | Jan 14, 2014 |
| Priority date | — |
| Expiry date | Nov 4, 2029 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30041
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
To carry out satisfactory object recognition in a short time. An object recognition method in accordance with an exemplary aspect of the present invention is an object recognition method for recognizing a target object by using a preliminarily-created object model. The object recognition method generates a range image of an observed scene, detects interest points from the range image, extracts first features, the first features being features of an area containing the interest points, carries out a matching process between the first features and second features, the second features being features of an area in the range image of the object model, calculates a transformation matrix based on a result of the matching process, the transformation matrix being for projecting the second features on a coordinate system of the observed scene, and recognizes the target object with respect to the object model based on the transformation matrix.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.