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

Claim 0:
1. 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
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,
wherein the 3D model includes representations of 3D edges and 3D surface normals of the object imaged by the 3D camera assembly.