Patent ID: 7065262

Claim:
A geometric pattern matching method for refining an estimate of a true pose of an object in a run-time image, the method comprising: generating a low-resolution model pattern using a training image, the low-resolution model pattern including a geometric description of the expected shape of the object at a low spatial resolution, each geometric description including a list of pattern boundary points; generating a high-resolution model pattern using the training image, the high-resolution model pattern including a geometric description of the expected shape of the object at a high spatial resolution, each geometric description including a list of pattern boundary points; receiving a starting pose, the starting pose representing an initial estimate of the true pose of the object in the run-time image; receiving a run-time image; using the low-resolution model pattern, and the starting pose, analyzing the run-time image so as to provide a low-resolution pose that is a more refined estimate of the true pose than the starting pose; and using the high-resolution model pattern, and the low-resolution pose, analyzing the run-time image so as to provide a high-resolution pose that is a more refined estimate of the true pose than the low-resolution pose.