Method and apparatus for calculating position and orientation by

Details Method and apparatus for calculating position and orientation by Method and apparatus for calculating position and orientation by

1986-10-09

1989-02-07

Boudreau, Leo H.

Image analysis

Histogram processing

For setting a threshold

382 45, 382 48, G06K 932

Patent

active

048037354

ABSTRACT:
There are disclosed a method and an apparatus for properly recognizing the position and orientation of a whole object article from its partial shape. The method comprises the steps of first extracting an image of a partial shape from a two-dimensional picture image representing at least one portion of the object article whose position and orientation are to be recognized, then calculating at least one of a center of gravity, an intersection of straight lines and a linear equation with respect to each of the extracted feature shapes, thereby obtaining at least one feature parameter, and calculating the position and orientation of the whole object article by arbitrarily combining such feature parameters.

REFERENCES:
patent: 4334241 (1982-06-01), Kashioka
patent: 4435837 (1984-03-01), Abernathy
patent: 4566126 (1986-01-01), Miyagawa
patent: 4611292 (1986-09-01), Ninomiya
patent: 4630225 (1986-12-01), Hisano

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