Patent ID: 11886189
Assignee: PERCEPTUAL ROBOTICS LIMITED
Field: Control (Instruments)
Classification: CPC G  B  F  Y | IPC B  G

Claim 0:
1. A pose optimization process to optimize an approximate pose of a sensor with respect to an object using sensor data, the process comprising:
receiving a model of an object;
receiving sensor data relating to at least part of the object, the sensor data being in a sensor frame of reference, the sensor data being associated with pose data representing a pose of a sensor used to generate the sensor data;
projecting at least part of the model onto the sensor frame of reference;
identifying corresponding feature points and/or feature lines between the model and sensor data in the sensor frame of reference, wherein identifying corresponding feature points and/or feature lines between the model and sensor data in the sensor frame of reference includes defining a search region around a feature point identified in the model and searching the search region; and
optimizing the pose data based on the identified correspondence, using a location difference in the corresponding feature points and/or feature lines between the model and the sensor data in the sensor frame of reference.