Patent ID: 11881000
Assignee: COGNEX CORPORATION
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H | IPC G  H

Claim 16:
17. A method for finding the pose of a 3D model in a 3D image of an object acquired by a 3D camera assembly, comprising the steps of:
generating a 3D model during training time;
acquiring a 3D image of an object during runtime;
performing a coarse 3D alignment in which identified features in the 3D image are registered with corresponding features of the 3D model;
analyzing the identified features in the 3D image to determine characteristics of 3D edges and 3D normals to generate one or more weight values; and, refining the coarse 3D alignment by finding, with a processor and based upon the one or more weight values, a pose that concurrently matches 3D edges in the 3D model to 3D edges in the 3D image and 3D normals in the 3D model to 3D normals in the 3D image.