Patent ID: 6735343
Filing Date: 2004-05-11
Classification: G06K,G06T

Abstract:
A method for performing a geometric match to locate an object within an image using a search tree comprising:providing a model of the object including a plurality of geometric model features; providing an input image; extracting a plurality of geometric features from the input image of the same quality of the geometric model features; comparing a first geometric model feature against the plurality of extracted geometric features and matching the first geometric model feature against a first extracted geometric feature if their comparison falls within predefined local consistency measures to thereby form a first branch within the search tree; comparing a second geometric model feature against the plurality of extracted geometric features and matching the second geometric model feature against a second extracted feature if their comparison falls within predefined local consistency measures to thereby form a second branch within the search tree which depends from the first branch; comparing a third geometric model feature against the plurality of extracted geometric features and finding a provisional match between the third geometric model feature and a third extracted geometric feature; calculating a pose based on the comparison of the first through third model features and extracted features, and not accepting the provisional match if the pose falls outside a predefined pose bound.