Patent ID: 6173066
Filing Date: 2001-01-09
Classification: G06F,G06K

Abstract:
A method of recognizing three-dimensional objects through parameter zoning, comprising the steps of:a) receiving data characterizing a three-dimensional object;b) performing a transformation on the data to generate a projected image of at least a portion of the object;c) subdividing the projected image into a zoned image containing a single object feature event describable in terms of X, Y, Z estimation space and pitch, roll, yaw angle space;d) receiving a digitized scene from one or more sensors;e) selecting an area of interest from the scene;f) subdividing the area of interest into a zoned area of interest by:zoning the initial pitch, roll, yaw angle space into a predetermined number of angular steps, andzoning the initial X, Y, Z estimation space using angular subdivisions;g) comparing the zoned image to the zoned area of interest; andh) repeating steps b), c), d) and g) to determine if the portion of the object is contained within the zoned area of interest.