Patent ID: 8311342
Filing Date: 2012-11-13
Classification: G06K

Abstract:
1. A method for, determining at least one of an object classification, an object position, and an object orientation in space, comprising the steps of: generating measurement object data points of a measurement object surface using a distance resolving receiver unit; using the measurement object data points in conjunction with model object data determined in advance to propose and verify a hypothesis on at least one of a class, a position, and an orientation of a measurement object, wherein a plurality of different hypothesis tests are cascaded in such a way, that only on verification of a hypothesis through a hypothesis test is a subsequent hypothesis test carried out within this cascade, the hypothesis tests continuing until either: a hypothesis is falsified by failure of a hypothesis test, or a hypothesis is verified as a whole through a complete run through a cascade without falsification, wherein the hypotheses tests include a bounding box test in which a selection of measurement object data points is tested to see whether they lie within an envelope body of the measurement object, a range image test, a position and orientation optimization test in which measurement object data points are brought into an optimal match with a surface grid of a measurement object, and a nearest neighbour test where the 0