Patent ID: 7580774

Claim:
A method for classifying a pose of an object, the method implemented on a computer, comprising: receiving a characterization of a candidate pose, the characterization based at least in part on a singular value of a first matrix for the candidate pose, the first matrix comprising an element representing a Euclidean distance between two markers on the object; receiving a plurality of characterizations of known poses, each characterization based at least in part on a singular value of a second matrix for a known pose, the second matrix comprising an element representing a Euclidean distance between two markers on an object of the known pose; and classifying the candidate pose based at least in part on similarities between the characterization of the candidate pose and the plurality of characterizations of known poses, the classifying performed by a processor of the computer, the classifying comprising: determining a similarity between the characterization of the candidate pose and a cluster, where the cluster comprises characterizations of a plurality of noisy variations of a known pose.