System for determining the pose of an object which utilizes rang

Details System for determining the pose of an object which utilizes rang System for determining the pose of an object which utilizes rang

1993-11-16

1995-11-28

Razavi, Michael T.

Image analysis

Applications

Robotics

382154, 356376, G06T 700, G01B 1124

Patent

active

054715415

ABSTRACT:
A method for determining the 3-D pose of an object is provided assuming that an approximate pose of the object is known. As a laser range camera scans the object, depth profiles of the object are obtained and stored in a memory. Synthetic profiles are obtained from a model of the object that has been oriented to the assumed pose of the object, by using a conventional raster rendering technique to obtain a series of slices of the model. Once this synthetic profile signature of the model of the object is generated, a comparison is performed between this profile signature and the profiles obtained from the laser range camera. When a suitable match is found, a correction to the 3-D pose is calculated from the offset parameters associated with the match; further refinement may be performed by repeating the process.

REFERENCES:
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patent: 5220619 (1993-06-01), Keokoek
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Quek et al. "An Abstraction-Based Approach to 3-D Pose Determination from Rouge Images," IEEE Trans. Patt. Analysis and Mach. Intel, vol. 15 Iss: 7, Jul. 1993, pp. 722-736.
Ponce et al. "On Using CAD Models to Compute the Pose of Curved 3D Objects" Workshop on Div. Auto. CAD-Based Vision, Jun. 1991, pp. 136-145.
Kriegman et al. "On Recognizing and Positioning Curved 3-D Objects from Image Contours" IEEE Trans. Pat. Analy. Mach. Int., vol. 12, No. 12, 1127-1137.
Arman et al. "Object Recognition in Dense Range Images Using a CAD System as a Model Base" Proc. 1990 IEEE Conf. Robotics & Automation vol. 3, May 1990, pp. 1858-1863.
Maruyama et al, "Range Sensing by Projecting Multiple Slits with Random Cuts" IEEE Trans Patt. Analysis and Mach. Intel., vol. 15 Iss 6, Jun. 1993 pp. 647-651.

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