Importance

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Abstract

A method is provided for finding a pose of a geometric model of an object within an image of a scene containing the object that includes providing sub-models of the geometric model; and providing found poses of the sub-models in the image. The method also includes selecting sub-models of the geometric model based on pre-fit selection criteria and/or post-fit selection criteria so as to provide selected sub-models of the geometric model. Thus, the invention automatically removes, disqualifies, or disables found sub-model poses when they fail to satisfy certain user-specified requirements. Examples of such requirements include thresholds on deviations between the found sub-model poses and their corresponding expected poses with respect to the final model pose, as well as limits on the sub-model. The remaining, validated sub-models can then be used to re-compute a more accurate fit of the model to the image. The invention also provides methods for ensuring that the new fit conforms to user-specified requirements, such as requiring that skew or aspect components of the final model pose be below some user-specified threshold. The invention not only allows sub-model outliers to be discarded so as to obtain a more close-fitting model pose, but also reduces the possibility of 'false positives', i.e., returning a model pose when the model does not exist within the image.

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First Claim