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:
Sep. 30, 2014
Filed:
Feb. 28, 2012
Minh-tri Pham, Cambridge, GB;
Oliver Woodford, Cambridge, GB;
Frank Perbet, Cambridge, GB;
Atsuto Maki, Cambridge, GB;
Bjorn Stenger, Cambridge, GB;
Roberto Cipolla, Cambridge, GB;
Minh-Tri Pham, Cambridge, GB;
Oliver Woodford, Cambridge, GB;
Frank Perbet, Cambridge, GB;
Atsuto Maki, Cambridge, GB;
Bjorn Stenger, Cambridge, GB;
Roberto Cipolla, Cambridge, GB;
Kabushiki Kaisha Toshiba, Tokyo, JP;
Abstract
A method of comparing two object poses, wherein each object pose is expressed in terms of position, orientation and scale with respect to a common coordinate system, the method comprising: where X is the object pose of one object and Y is the object pose of the other object, s(X) and s(Y) are scalar functions representing the scale of the object poses X and Y respectively, R(X) and R(Y) are matrices expressing the rotation of object poses X and Y respectively, t(X) and t(Y) are vectors expressing the translation of object poses X and Y respectively, and σ, σand σare weighting factors for d, dand drespectively.