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. 14, 2013
Filed:
Dec. 29, 2008
Cyril C. Marrion, Acton, MA (US);
Nigel J. Foster, Natick, MA (US);
Lifeng Liu, Arlington, MA (US);
David Y. LI, West Roxbury, MA (US);
Guruprasad Shivaram, Chestnut Hill, MA (US);
Aaron S. Wallack, Natick, MA (US);
Xiangyun YE, Framingham, MA (US);
Cyril C. Marrion, Acton, MA (US);
Nigel J. Foster, Natick, MA (US);
Lifeng Liu, Arlington, MA (US);
David Y. Li, West Roxbury, MA (US);
Guruprasad Shivaram, Chestnut Hill, MA (US);
Aaron S. Wallack, Natick, MA (US);
Xiangyun Ye, Framingham, MA (US);
Cognex Corporation, Natick, MA (US);
Abstract
This invention provides a system and method for determining the three-dimensional alignment of a modeled object or scene. A 3D (stereo) sensor system views the object to derive a runtime 3D representation of the scene containing the object. Rectified images from each stereo head are preprocessed to enhance their edge features. 3D points are computed for each pair of cameras to derive a 3D point cloud. The amount of 3D data from the point cloud is reduced by extracting higher-level geometric shapes (HLGS), such as line segments. Found HLGS from runtime are corresponded to HLGS on the model to produce candidate 3D poses. A coarse scoring process prunes the number of poses. The remaining candidate poses are then subjected to a further more-refined scoring process. These surviving candidate poses are then verified whereby the closest match is the best refined three-dimensional pose.