The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 10, 2026
Filed:
Jan. 08, 2021
Zhejiang University, Hangzhou, CN;
ZHEJIANG UNIVERSITY, Hangzhou, CN;
Abstract
The present invention discloses an object pose recognition method based on triangulation and a probability weighted RANSAC algorithm. First, an actual image and a template image are photographed as input, foreground parts of the input images are extracted, feature points are extracted by means of an SIFT algorithm, the feature points of the actual image and the template image are matched, and each pair of feature points is numbered. Then, the actual image is triangulated, serial numbers of the feature points at vertexes of each triangle are recorded, and the feature points are reconnected into triangles in the model image according to the serial numbers of the points. Next, each feature point is assigned with a certain probability according to intersections of line segments around the feature point. Finally, when a RANSAC algorithm is used, four feature points are probabilistically selected to calculate a spatial transformation matrix, an error generated by the spatial transformation matrix is calculated, and when the error satisfies a set condition, the matrix is the calculated spatial transformation matrix. The present invention can calculate an accurate object pose, achieve higher efficiency, and meet the requirements of practical application.