Position and orientation estimation neural network system and method

Abstract

Disclosed are a system and method for determining the pose (translation, rotation, and scale), or position and orientation, of a model object that best matches a target object located in image data. Through an iterative process small adjustments are made to the original position and orientation of the model object until it converges to a state that best matches the target object contained in the image data. Edge data representative of edges of the target object and edge data representative of the model object are processed for each data point in the model object relative to each point in the target object to produce a set of minimum distance vectors between the model object and the target object. A neural network estimates translation, rotation, and scaling adjustments that are to be made to the model object. Pose of the model object is adjusted relative to the target object based upon the estimated translation, rotation, and scaling adjustments provided by the neural network. Iterative calculation of the minimum distance vectors, estimation of the translation, rotation, and scaling adjustments, and adjustment of the position and orientation of the model object is adapted to reposition the model object until it substantially overlays the target object. Final position of the model object provides an estimate of the position and orientation of the target object in the digitized image.