Patent Document ID: 8401308
Application ID: 11764449
Patent Status: 1

Claim One:
1. An information processing device, comprising: a storage configured to store information associated with features disposed within model images, and information associated with features disposed within transformed images, the transformed images being obtainable through an application of a transformation to corresponding ones of the model images; an object feature point extractor configured to extract object feature points from an input image; an object feature extractor configured to extract object features and position information corresponding to the object feature points; a feature comparator configured to: receive, from the storage unit, information associated with a target model image and at least one transformed image associated with the target model image, the target model image being one of the model images, and the information comprising target feature points associated with features disposed within the target model image and the transformed image and target position information corresponding to the target feature points; compute measures of similarity between the object feature points and the target feature points, based on at least the object feature position information and the target position information; based on the computed measures of similarity, generate a set of matched pairs for a selected one of the target feature points, the matched pairs comprising information identifying the selected target feature point and corresponding ones of the object feature points, the matched pairs being ordered in accordance with the computed measures of similarity; and modify an ordering of the matched pairs based on at least a density gradient vector associated with the target model image; and a recognizer configured to discard a false match from the set of matched pairs, the false match comprising one of the matched pairs and being associated with corresponding target and object feature points, wherein a spatial relationship between the corresponding target and object feature points is inconsistent with a pose of an object within the input image, wherein: the model image features are associated with corresponding model image feature points, and the transformed image features are associated with corresponding transformed image feature points; the storage is further configured to store position information corresponding to the model image feature points, and position information corresponding to the transformed image feature points; the matched pairs further comprise the target feature position information and corresponding object feature position information; the application of the transformation transforms first positions of the model image feature points on the model images into corresponding second positions of the model feature points on the transformed images; and the recognizer is further configured to: recognize whether a first object in one of the model images corresponds to a second object in the input image obtain first transformation coefficients associated with the transformation applied to corresponding ones of the model images; obtain second transformation coefficients associated with the transformed image associated with the target model image; compute, for at least a subset of the matched pairs, corresponding values indicative of a distance between the first and second transformation coefficients; and recognize whether the first object corresponds to the second object, based on the computed values.