发明授权
US07627178B2 Image recognition device using feature points, method for recognizing images using feature points, and robot device which recognizes images using feature points
有权
使用特征点的图像识别装置,使用特征点识别图像的方法,以及使用特征点识别图像的机器人装置
- 专利标题: Image recognition device using feature points, method for recognizing images using feature points, and robot device which recognizes images using feature points
- 专利标题(中): 使用特征点的图像识别装置,使用特征点识别图像的方法,以及使用特征点识别图像的机器人装置
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申请号: US10517615申请日: 2004-04-22
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公开(公告)号: US07627178B2公开(公告)日: 2009-12-01
- 发明人: Hirotaka Suzuki , Kohtaro Sabe , Masahiro Fujita
- 申请人: Hirotaka Suzuki , Kohtaro Sabe , Masahiro Fujita
- 申请人地址: JP Tokyo
- 专利权人: Sony Corporation
- 当前专利权人: Sony Corporation
- 当前专利权人地址: JP Tokyo
- 代理机构: Oblon, Spivak, McClelland, Maier & Neustadt, L.L.P.
- 优先权: JP2003-124225 20030428
- 国际申请: PCT/JP2004/005784 WO 20040422
- 国际公布: WO2004/097742 WO 20041111
- 主分类号: G06K9/46
- IPC分类号: G06K9/46
摘要:
In an image recognition apparatus, feature point extraction sections and extract feature points from a model image and an object image. Feature quantity retention sections extract a feature quantity for each of the feature points and retain them along with positional information of the feature points. A feature quantity comparison section compares the feature quantities with each other to calculate the similarity or the dissimilarity and generates a candidate-associated feature point pair having a high possibility of correspondence. A model attitude estimation section repeats an operation of projecting an affine transformation parameter determined by three pairs randomly selected from the candidate-associated feature point pair group onto a parameter space. The model attitude estimation section assumes each member in a cluster having the largest number of members formed in the parameter space to be an inlier. The model attitude estimation section finds the affine transformation parameter according to the least squares estimation using the inlier and outputs a model attitude determined by this affine transformation parameter.
公开/授权文献
- US20050213818A1 Image recognition device and method, and robot device 公开/授权日:2005-09-29