Systems and methods for estimating pose of textureless objects
US9892543B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 26, 2016 |
| Grant date | Feb 13, 2018 |
| Priority date | — |
| Expiry date | Feb 26, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2219/2004
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Systems and methods for estimating the pose of a textureless object are disclosed. A method to estimate a pose of a textureless object includes obtaining, by a processing device, a single image of the textureless object. The pose of the textureless object can be inferred from the single image. The method further includes generating, by the processing device, a three dimensional model of the textureless object from a plurality of viewpoints and a plurality of scales obtained from image data of the textureless object, matching, by the processing device, the single image with a discretized render of the three dimensional model via a multi-level illumination invariant tree structure to obtain an alignment of the single image with the discretized render, and estimating, by the processing device, the pose of the textureless object based on the alignment.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.