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

Claim 12:
13. 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; and
performing a coarse 3D alignment in which identified features in the 3D image are registered with corresponding features of the 3D model;, refining the coarse 3D alignment by finding, with a processor, 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.