Patent ID: 8379014
Filing Date: 2013-02-19
Classification: B25J,G06K

Abstract:
1. A method for transforming an object into an electronic 3-D model for 3D object recognition comprising the following steps: (a) providing the interior parameters of a camera using a computer processor; (b) providing a geometric representation of a 3D object; (c) providing a range of poses in which the 3D object may appear with respect to the camera by (c1) providing a range of positions by providing intervals for coordinate and (c2) providing a range of orientations by providing intervals for angles; (d) creating virtual views of the 3D object by sampling the range of poses for different image resolutions; (e) representing all views by a tree structure where views that correspond to the same image resolution reside at the same hierarchy level in the tree; and (f) for each view creating a 2D model that can be used to find the 2D view in an image by using an appropriate 2D matching approach.