Patent Document ID: 9710706
Application ID: 14493951
Patent Status: 1

Claim One:
1. A method for classifying a known object in a field of view of a digital camera, the method comprising: developing a plurality of classifier feature vectors, each classifier feature vector associated with one of a plurality of facet viewing angles of the known object, wherein developing the plurality of classifier feature vectors comprises: fixedly coupling a pose-artifact to the known object at a known spatial relationship, and for each of the facet viewing angles: generating an image that includes the known object and the pose-artifact, identifying the known object and the pose-artifact in the image, determining a feature vector of the known object, determining a viewing angle of the pose-artifact, transforming the viewing angle of the pose-artifact to a specific one of a plurality of classes associated with the facet viewing angle, and correlating the feature vector of the known object to the specific one of the plurality of classes associated with the facet viewing angle; capturing, using the digital camera, an image in a field of view including the known object; generating an image feature vector based upon said captured image; comparing the image feature vector with each of the plurality of classifier feature vectors and selecting one of the plurality of classifier feature vectors that most closely corresponds to the image feature vector; and determining a pose of the known object relative to the digital camera based upon the selected classifier feature vector.