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Abstract

Per one embodiment, a method is provided for refining a pose estimate of a model. The model is coarsely aligned with a run-time image, and it represents a 2D pattern. The pose estimate includes at least one pose estimate parameter. The model has a plurality of model features, and the run-time image has a plurality of run-time features. A given distance value is determined representing a given distance between a given one of the plurality of the model features mapped by a given pose estimate and a corresponding given run-time feature. A two-dimensional model description of the two-dimensional model pattern is provided. The two-dimensional model pattern is mapped using the given pose estimate to create a transformed version of the two-dimensional model pattern. The transformed version represents a non-linear movement of at least portions of the two-dimensional model pattern in a direction orthogonal to a plane of the two-dimensional model description.

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