Patent ID: 6658145
Filing Date: 2003-12-02
Classification: G06K,G06T

Abstract:
A method for inspecting an object in an image, the object having an expected shape and a true pose in the image the method comprising:storing a model pattern, said model pattern including a geometric description of the expected shape of said object said geometric description including a plurality of pattern boundary points; providing a starting pose that represents an initial estimate of the true pose of said object in said image; detecting in said image a plurality of image boundary points; using said starting pose and said model pattern to determine an evaluation of reliability of at least some of said plurality of image boundary points, and to determine a corresponding position along a boundary of said model pattern corresponding to at least some of said plurality of image boundary points; computing a new pose using said starting pose, the plurality of image boundary points, evaluations and corresponding positions along the boundary of said model pattern, the new pose representing a more refined estimate of the true pose of said object in said image; using the evaluation of reliability of at least some of said plurality of image boundary points to identify features in the image not present in the model pattern.