公开(公告)号：US20170032220A1

公开(公告)日：2017-02-02

申请号：US14811062

申请日：2015-07-28

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Swarup Medasani ,  Jason Meltzer ,  Jiejun Xu ,  Zhichao Chen ,  Rashmi N. Sundareswara ,  David W. Payton ,  Ryan M. Uhlenbrock ,  Leandro G. Barajas ,  Kyungnam Kim

IPC: G06K9/62 ,  G06T7/00 ,  G06T7/20 ,  G06K9/46 ,  G01B11/00 ,  G06T3/00

CPC classification number: G06K9/6218 ,  G01B11/002 ,  G06K9/00 ,  G06K9/00214 ,  G06K9/4671 ,  G06K9/6203 ,  G06K9/6215 ,  G06K9/6256 ,  G06K2009/4666 ,  G06T3/00 ,  G06T7/20 ,  G06T7/74 ,  G06T2207/10028 ,  G06T2207/20016

Abstract: A method for localizing and estimating a pose of a known object in a field of view of a vision system is described, and includes developing a processor-based model of the known object, capturing a bitmap image file including an image of the field of view including the known object, extracting features from the bitmap image file, matching the extracted features with features associated with the model of the known object, localizing an object in the bitmap image file based upon the extracted features, clustering the extracted features of the localized object, merging the clustered extracted features, detecting the known object in the field of view based upon a comparison of the merged clustered extracted features and the processor-based model of the known object, and estimating a pose of the detected known object in the field of view based upon the detecting of the known object.

Abstract translation: 描述了一种用于在视觉系统的视野中定位和估计已知对象的姿态的方法，并且包括开发已知对象的基于处理器的模型，捕获包括视场图像的位图图像文件 包括已知对象，从位图图像文件中提取特征，将所提取的特征与已知对象的模型相关联的特征进行匹配，基于所提取的特征将位图图像文件中的对象定位，将所提取的特征进行聚类 ，合并聚集提取的特征，基于所合并的聚类提取特征与已知对象的基于处理器的模型的比较，在视野中检测已知对象，以及估计已知对象的姿势 基于已知对象的检测来查看。