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:
May. 07, 2013
Filed:
Jul. 27, 2009
Ju Yong Chang, Seoul, KR;
Amit Kumar Agrawal, Somerville, MA (US);
Ashok N. Veeraraghavan, Cambridge, MA (US);
Ramesh N. Raskar, Cambridge, MA (US);
Jay E. Thorton, Watertown, MA (US);
Ju Yong Chang, Seoul, KR;
Amit Kumar Agrawal, Somerville, MA (US);
Ashok N. Veeraraghavan, Cambridge, MA (US);
Ramesh N. Raskar, Cambridge, MA (US);
Jay E. Thorton, Watertown, MA (US);
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Abstract
A method estimates a 3D pose of a 3D specular object in an environment. In a preprocessing step, a set of pairs of 2D reference images are generated using a 3D model of the object, and a set of poses of the object, wherein each pair of reference images is associated with one of the poses. Then, a pair of 2D input images are acquired of the object. A rough 3D pose of the object is estimated by comparing features in the pair of 2D input images and the features in each pair of 2D reference images using a rough cost function. The rough estimate is optionally refined using a fine cost function.