Patent ID: 7822264

Claim:
A method for recognition of three dimensional objects, said one or more objects being imaged so as to provide a recognition image being a two dimensional digital image of the object, said method utilises a database in which numerical descriptors of features in a number of training images are stored, where numerical descriptors of a feature comprise: numerical descriptors for extrinsic properties of the feature, which numerical descriptors comprise a location and an orientation of the feature in the image, and numerical descriptors for intrinsic properties of the feature that are invariant to orientation of the object image, which numerical descriptors are derived after a homographic transformation applied to the feature, said method comprising: performing the following elements at least partially on at least one electronic device: identifying features in the recognition image, each feature comprising a set of primitives; extracting numerical descriptors for extrinsic and intrinsic properties of the features in the recognition image; matching the extracted numerical descriptors with those stored in the database in case a match is found assign the object corresponding to the properties matched in the database to be similar to the object of the object to be recognised.