Patent ID: 11887347
Assignee: CANON U.S.A., INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 16:
17. A device to image registration apparatus comprising:
at least one processor configured to perform:
obtaining image data of a device, the device including a plurality of fiducials arranged as a fiducial frame on the device;
detecting fiducial objects within the image data;
cropping the image data to generate cropped image data;
applying a feature enhancement to the cropped image data to enhance the fiducial objects;
generating a candidate list of candidate objects based on the feature enhancement, and determining a common plane based on at least three points in the candidate list;
determining a representative point for each candidate object;
determining outlier candidate objects based on the common plane;
determining resultant objects by extracting the outlier candidate objects from the candidate list; and
registering the resultant objects to the device by matching the representative points of the resultant objects with a model of the fiducial frame.