Patent ID: 9418480
Filing Date: 2016-08-16
CPC Classification: G02B,G06F,G06T

Claim Text:
1. A method for three-dimensional (3D) pose estimation comprising: receiving, from a camera, a first image at time t that includes an object of interest; extracting FN features from the object in the first image to generate a first feature array {f projecting the FN features onto a 3D model of the object to generate a first 3D sample point array {F estimating an initial pose P receiving, from the camera, a second image at time t+1 that includes the object; identifying Q (Q≦FN) features {f estimating a new pose P extracting N (N=FN-Q) new features {nif projecting the N new features {nif generating, for subsequent pose estimation, a second feature array {f generating, for subsequent pose estimation, a second 3D sample point array {F