Patent ID: 6297844
Filing Date: 2001-10-02
Classification: G06K,G06T,H04N

Abstract:
A method of implementing a machine vision system to compare a model of a 3-D reference target in a viewed scene to a runtime scene, said method comprising:storing information related to said model of said 3-D reference target, said model including a set of 3-D points related to said 3-D reference target;acquiring information related to said runtime scene;processing said information related to said runtime scene to form stereoscopic information including a set of 3-D points related to said runtime scene;comparing said set of 3-D points related to said 3-D reference target with said set of 3-D points related to said runtime scene; anddefining any 3-D entity in said runtime scene other than said 3-D reference target as an intruder;wherein the step of storing information related to said model of said 3-D reference target involves generating said set of 3-D points in the form of a first set of 3-D objects related to said 3-D reference target using a first clustering algorithm, and/or the step of acquiring information related to said runtime scene involves generating said set of 3-D points in the form of a second set of 3-D objects related to said runtime scene using a second clustering algorithm.