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1. 发明授权

US08363972B1 Method for fast, robust, multi-dimensional pattern recognition 有权
公开(公告)号：US08363972B1
公开(公告)日：2013-01-29
申请号：US11027963
申请日：2004-12-31
申请人： William M. Silver , E. John McGarry , Matthew L. Hill , Nigel J. Foster , Sanjay Nichani , Willard P. Foster , Adam Wagman
发明人： William M. Silver , E. John McGarry , Matthew L. Hill , Nigel J. Foster , Sanjay Nichani , Willard P. Foster , Adam Wagman
IPC分类号： G06K9/62
CPC分类号： G06K9/6201 , G06K9/481 , G06K9/6204
摘要： Disclosed is a method for determining the absence or presence of one or more instances of a predetermined pattern in an image, and for determining the location of each found instance within a multidimensional space. A model represents the pattern to be found, the model including a plurality of probes. Each probe represents a relative position at which a test is performed in an image at a given pose, each such test contributing evidence that the pattern exists at the pose. The method further includes a comparison of the model with a run-time image at each of a plurality of poses. A match score is computed at each pose to provide a match score surface. Then, the match score is compared with an accept threshold, and used to provide the location any instances of the pattern in the image.

2. 发明申请

US20100166294A1 SYSTEM AND METHOD FOR THREE-DIMENSIONAL ALIGNMENT OF OBJECTS USING MACHINE VISION 有权
标题翻译：使用机器视觉的三维对准对象的系统和方法
公开(公告)号：US20100166294A1
公开(公告)日：2010-07-01
申请号：US12345130
申请日：2008-12-29
申请人： Cyril C. Marrion , Nigel J. Foster , Lifeng Liu , David Y. Li , Guruprasad Shivaram , Aaron S. Wallack , Xiangyun Ye
发明人： Cyril C. Marrion , Nigel J. Foster , Lifeng Liu , David Y. Li , Guruprasad Shivaram , Aaron S. Wallack , Xiangyun Ye
IPC分类号： G06K9/00
CPC分类号： G06K9/00214 , G06K9/6211
摘要： This invention provides a system and method for determining the three-dimensional alignment of a modeledobject or scene. After calibration, 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. A stereo matching process is then performed on at least two (a pair) of the rectified preprocessed images at a time by locating a predetermined feature on a first image and then locating the same feature in the other image. 3D points are computed for each pair of cameras to derive a 3D point cloud. The 3D point cloud is generated by transforming the 3D points of each camera pair into the world 3D space from the world calibration. 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 by, for example, fitting found 3D or 2D points of the candidate poses to a larger set of corresponding three-dimensional or two-dimensional model points, whereby the closest match is the best refined three-dimensional pose.
摘要翻译：本发明提供一种用于确定建模对象或场景的三维对准的系统和方法。校准后，3D（立体声）传感器系统会查看对象以导出包含对象的场景的运行时3D表示。来自每个立体声头的整流图像被预处理以增强其边缘特征。然后，通过在第一图像上定位预定特征，然后将另一图像中的相同特征定位，对至少两（一对）经整流的预处理图像执行立体匹配处理。为每对相机计算3D点以导出3D点云。 3D点云是通过将世界三维空间中的每个摄像机对的3D点变换为世界校准而产生的。通过提取诸如线段的较高级几何形状（HLGS）来减少来自点云的3D数据量。从运行时发现的HLGS对应于模型上的HLGS，以产生候选的3D姿势。粗略的评分过程会减少姿势的数量。然后，剩下的候选姿势进一步进行更精细的评分过程。然后通过例如将候选姿势的3D或2D点拟合到较大的一组相应的三维或二维模型点来验证这些幸存的候选姿势，由此最接近的匹配是最佳精细三维姿态。

3. 发明授权

US6002793A Machine vision method and apparatus for finding an object orientation angle of a rectilinear object 失效
标题翻译：用于找到直线对象的物体取向角的机器视觉方法和装置
公开(公告)号：US6002793A
公开(公告)日：1999-12-14
申请号：US330223
申请日：1994-10-26
申请人： William M. Silver , Nigel J. Foster , Cyril C. Marrion, Jr.
发明人： William M. Silver , Nigel J. Foster , Cyril C. Marrion, Jr.
IPC分类号： G06K9/32 , G06T7/00 , G06K9/00
CPC分类号： G06K9/3208 , G06T7/004
摘要： A machine vision system for finding an angle object orientation, or other characteristic, of an object in an image. The system determines the boundary pixels, determines the segment orientation angles associated with each successive segment of n boundary pixels, assigns a weight to each angle, generates a histogram of the angles according to their weights, normalizes the histogram to an angle range covering 90.degree., and generates a signal representing the angle corresponding to a selected peak in the histogram. In one embodiment, the system interpolates between neighboring pixels across the boundary to obtain a grey-scale boundary of sub-pixel accuracy.
摘要翻译：一种用于在图像中找到对象的角度对象取向或其他特征的机器视觉系统。系统确定边界像素，确定与n个边界像素的每个连续片段相关联的片段取向角度，为每个角度分配权重，根据权重生成角度直方图，将直方图归一化为覆盖90度的角度范围并且生成表示与直方图中的选定峰对应的角度的信号。在一个实施例中，系统在跨越边界的相邻像素之间内插，以获得子像素精度的灰度边界。

4. 发明授权

US08442304B2 System and method for three-dimensional alignment of objects using machine vision 有权
标题翻译：使用机器视觉对象的三维对准的系统和方法
公开(公告)号：US08442304B2
公开(公告)日：2013-05-14
申请号：US12345130
申请日：2008-12-29
申请人： Cyril C. Marrion , Nigel J. Foster , Lifeng Liu , David Y. Li , Guruprasad Shivaram , Aaron S. Wallack , Xiangyun Ye
发明人： Cyril C. Marrion , Nigel J. Foster , Lifeng Liu , David Y. Li , Guruprasad Shivaram , Aaron S. Wallack , Xiangyun Ye
IPC分类号： G06K9/00
CPC分类号： G06K9/00214 , G06K9/6211
摘要： 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.
摘要翻译：本发明提供了一种用于确定建模对象或场景的三维对准的系统和方法。 3D（立体声）传感器系统查看对象以导出包含对象的场景的运行时3D表示。来自每个立体声头的整流图像被预处理以增强其边缘特征。为每对相机计算3D点以导出3D点云。通过提取诸如线段的较高级几何形状（HLGS）来减少来自点云的3D数据量。从运行时发现的HLGS对应于模型上的HLGS，以产生候选的3D姿势。粗略的评分过程会减少姿势的数量。然后，剩下的候选姿势进一步进行更精细的评分过程。然后验证这些存活的候选姿势，从而最接近的匹配是最好的精制三维姿态。

5. 发明授权

US08265395B1 Method for fast, robust, multi-dimensional pattern recognition 有权
公开(公告)号：US08265395B1
公开(公告)日：2012-09-11
申请号：US11023230
申请日：2004-12-21
申请人： William M. Silver , E. John McGarry , Matt Hill , Nigel J. Foster , Willard Foster
发明人： William M. Silver , E. John McGarry , Matt Hill , Nigel J. Foster , Willard Foster
IPC分类号： G06K9/00
CPC分类号： G06K9/6201 , G06K9/481 , G06K9/6204
摘要： Disclosed is a method for determining the absence or presence of one or more instances of a predetermined pattern in an image, and for determining the location of each found instance within a multidimensional space. A model represents the pattern to be found, the model including a plurality of probes. Each probe represents a relative position at which a test is performed in an image at a given pose, each such test contributing evidence that the pattern exists at the pose. The method further includes a comparison of the model with a run-time image at each of a plurality of poses. A match score is computed at each pose to provide a match score surface. Then, the match score is compared with an accept threshold, and used to provide the location any instances of the pattern in the image.

6. 发明授权

US08363956B1 Method for fast, robust, multi-dimensional pattern recognition 有权
公开(公告)号：US08363956B1
公开(公告)日：2013-01-29
申请号：US11028008
申请日：2004-12-30
申请人： William M. Silver , E. John McGarry , Matthew L. Hill , Nigel J. Foster , Sanjay Nichani , Willard P. Foster , Adam Wagman
发明人： William M. Silver , E. John McGarry , Matthew L. Hill , Nigel J. Foster , Sanjay Nichani , Willard P. Foster , Adam Wagman
IPC分类号： G06K9/62
CPC分类号： G06K9/6201 , G06K9/481 , G06K9/6204
摘要： Disclosed is a method for determining the absence or presence of one or more instances of a predetermined pattern in an image, and for determining the location of each found instance within a multidimensional space. A model represents the pattern to be found, the model including a plurality of probes. Each probe represents a relative position at which a test is performed in an image at a given pose, each such test contributing evidence that the pattern exists at the pose. The method further includes a comparison of the model with a run-time image at each of a plurality of poses. A match score is computed at each pose to provide a match score surface. Then, the match score is compared with an accept threshold, and used to provide the location any instances of the pattern in the image.

7. 发明授权

US08244041B1 Method for fast, robust, multi-dimensional pattern recognition 有权
标题翻译：快速，健壮，多维模式识别的方法
公开(公告)号：US08244041B1
公开(公告)日：2012-08-14
申请号：US11029104
申请日：2004-12-31
申请人： William M. Silver , E. John McGarry , Nigel J. Foster , Sanjay Nichani
发明人： William M. Silver , E. John McGarry , Nigel J. Foster , Sanjay Nichani
IPC分类号： G06K9/62
CPC分类号： G06K9/6201 , G06K9/481 , G06K9/6204
摘要： Disclosed is a method for determining the absence or presence of one or more instances of a predetermined pattern in an image, and for determining the location of each found instance within a multidimensional space. A model represents the pattern to be found, the model including a plurality of probes. Each probe represents a relative position at which a test is performed in an image at a given pose, each such test contributing evidence that the pattern exists at the pose. The method further includes a comparison of the model with a run-time image at each of a plurality of poses. A match score is computed at each pose to provide a match score surface. Then, the match score is compared with an accept threshold, and used to provide the location any instances of the pattern in the image.
摘要翻译：公开了一种用于确定图像中的预定图案的一个或多个实例的不存在或不存在以及用于在多维空间内确定每个找到的实例的位置的方法。模型代表要发现的模式，该模型包括多个探针。每个探针表示在给定姿势下在图像中进行测试的相对位置，每个这样的测试提供了该模式存在于姿势的证据。该方法还包括在多个姿势中的每个姿势下的模型与运行时图像的比较。在每个姿态计算匹配得分以提供匹配得分表面。然后，匹配得分与接受阈值进行比较，并用于提供图像中图案的任何实例的位置。

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