Patent ID: 6836567
Filing Date: 2004-12-28
Classification: G06K,G06T

Abstract:
In a geometric pattern matching apparatus for refining a starting pose of an object in a run-time image, the object having an expected shape and a true pose in the run-time image, the starting pose representing an initial estimate of the true pose of the object in the run-time image, the geometric pattern matching apparatus having (1) a stored model pattern, the stored model pattern including a geometric description of the expected shape of the object, the geometric description including a plurality of pattern boundary points, and a field of force vectors, the field being a vector-valued function of position that relates force vectors to pattern boundary points, (2) a feature detector configured to detect in the run-time image a plurality of image boundary points, and (3) a sequential pose refinement module having an evaluate module, the evaluate module comprising:a field strength evaluator configured to receive a force magnitude component of a force vector corresponding to an image boundary point, and an error signal, and configured to provide a confidence factor.