Patent ID: 6993192

Claim:
A geometric pattern matching apparatus for refining a starting pose of an object in a run-time image, the object having an expected shape and a true pose in the run-time image, the starting pose representing an initial estimate of the true pose of the object in the run-time image, the apparatus comprising: a stored model pattern, the stored model pattern including a geometric description of the expected shape of the object, the geometric description including a plurality of pattern boundary points, and information about the pattern boundary points; and a run-time module configured to: receive the stored model pattern, the starting pose, and the run-time image; detect in the run-time image a plurality of image boundary points; and use the stored model pattern, the starting pose, and the plurality of image boundary points in a sequence of pose refinements to provide: a refined pose, the refined pose representing a refined estimate of the true pose of the object in the run-time image; an error value; an aggregate clutter value; and an aggregate coverage value.