Patent ID: 6580821
Filing Date: 2003-06-17
Classification: G06K,G06T

Abstract:
A method for computing the location and orientation of an object in three-dimensional space, the method comprising the steps of:(a) marking a plurality of feature points on a three-dimensional model and corresponding feature points on a two-dimensional query image; (b) for all possible subsets of three two-dimensional feature points marked in step (a), computing the four possible three-dimensional rigid motion solutions of a set of three points in three-dimensional space such that after each of the four rigid motions, under a fixed perspective projection, the three three-dimensional points are mapped precisely to the three corresponding two-dimensional points; (c) for each solution found in step (b), computing an error measure derived from the errors in the projections of all three-dimensional marked points in the three-dimensional model which were not among the three points used in the solution, but which did have corresponding marked points in the two-dimensional query image; (d) ranking the solutions from step (c) based on the computed error measure; and (e) selecting the best solution based on the ranking in step (d).