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:
Jun. 25, 2013
Filed:
Nov. 24, 2009
Amit K. Agrawal, Somerville, MA (US);
Changhua Wu, Troy, MI (US);
Ramesh N. Raskar, Cambridge, MA (US);
Jay Thornton, Watertown, MA (US);
Amit K. Agrawal, Somerville, MA (US);
Changhua Wu, Troy, MI (US);
Ramesh N. Raskar, Cambridge, MA (US);
Jay Thornton, Watertown, MA (US);
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Abstract
During pre-processing, a 3D model of the object is rendered for various poses by arranging virtual point light sources around the lens of a virtual camera. The shadows are used to obtain oriented depth edges of the object illuminated from multiple directions. The oriented depth edges are stored in a database. A camera acquires images of the scene by casting shadows onto the scene from different directions. The scene can include one or more objects arranged in arbitrary poses with respect to each other. The poses of the objects are determined by comparing the oriented depth edges obtained from the acquired images to the oriented depth edges stored in the database. The comparing evaluates, at each pixel, a cost function based on chamfer matching, which can be speed up using downhill simplex optimization.