Method and system for locating and picking objects using...

Details Method and system for locating and picking objects using... Method and system for locating and picking objects using...

2011-07-19

2011-07-19

Chawan, Sheela (Department: 2624)

Image analysis

Pattern recognition

Feature extraction

C382S153000, C382S154000, C382S173000, C382S254000, C345S426000, C345S582000

Reexamination Certificate

active

07983487

ABSTRACT:
A method and system determines a 3D pose of an object in a scene. Depth edges are determined from a set of images acquired of a scene including multiple objects while varying illumination in the scene. The depth edges are linked to form contours. The images are segmented into regions according to the contours. An occlusion graph is constructed using the regions. The occlusion graph includes a source node representing an unoccluded region of an unoccluded object in scene. The contour associated with the unoccluded region is compared with a set of silhouettes of the objects, in which each silhouette has a known pose. The known pose of a best matching silhouette is selected as the pose of the unoccluded object.

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