Patent ID: 6597801
Filing Date: 2003-07-22
Classification: G06K,G06T

Abstract:
A method for registering a plurality of object models in at least one image, each object model comprising a plurality of features and described by a model state, the method comprising:selecting, for each object model, an unregistered feature of the object model to minimize a cost function of a subsequent search, each model having an associated cost function; selecting, responsive to the minimized cost functions, a subset of the object models; searching, for each selected object model, for a match of the associated selected model feature to the at least one image to register the feature; updating, responsive to the step of searching for a match, the model states of the selected object models; enforcing constraints by updating model states of the object models responsive to the constraints; and repeating the steps of selecting unregistered features, selecting a subset of object models, searching, updating and enforcing constraints.