Patent ID: 11928184
Assignee: SICK IVP AB
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 9:
10. One or more devices for supporting generation of a second object model based on a first object model for object matching according to an object matching algorithm, the first object model comprising object features of an imaged reference object, wherein said one or more devices are configured to:
obtain sub-models that comprise different sub-features, respectively, of said
object features comprised in the first object model,
provide contribution indicators for the sub-models, respectively, each contribution indicator of said contribution indicators indicating contribution of the sub-feature of the sub-model to incorrect matches, the contribution indicators being based on matching, according to the object matching algorithm, the first object model and the sub-models with at least one model optimization image, “MOI”, comprising predefined training features that when matched with the first object model result in at least said incorrect matches, and
obtain, per MOI, score maps comprising at least sub-model score maps for the sub-models, respectively, each score map being based on matching a corresponding model at different poses with the MOI, each score map comprising scores at different positions of the score map, each of said positions being associated with one or more of said poses, the score of a position indicating a level of matching between said one or more of said poses of the model associated with the position and the MOI,
wherein said provision of the contribution indicators comprises computing the contribution indicators based on said obtained score maps, wherein said score maps, obtained per MOI, further comprises a first model score map for the first object model, and
wherein the computation of each contribution indicator comprises computing, per MOI, a first sum, wherein the terms of the first sum comprise scores, respectively, from at least positions of the sub-model score map that correspond to said incorrect matches.