Patent ID: 7983487
Filing Date: 2011-07-19
Classification: B22D,G06T

Abstract:
1. A method for determining 3D pose of an object in a scene, comprising: determining depth edges from a set of images acquired of a scene including a plurality of objects while varying illumination in the scene; linking the depth edges to form contours; segmenting the images into regions according to the contours; constructing an occlusion graph using the regions, in which the occlusion graph includes a source node representing an unoccluded region of an unoccluded object in the scene; comparing the contour associated with the unoccluded region with a set of silhouettes of the plurality of objects, in which each silhouette has a known pose; and selecting the known pose of a best: matching silhouette as the pose of the unoccluded object, the steps are performed by a processor.