ES2145168T3 - Sistema y metodo de red neural para estimacion de posicion y orientacion. - Google Patents

Sistema y metodo de red neural para estimacion de posicion y orientacion.

Info

Publication number
ES2145168T3
ES2145168T3 ES95100447T ES95100447T ES2145168T3 ES 2145168 T3 ES2145168 T3 ES 2145168T3 ES 95100447 T ES95100447 T ES 95100447T ES 95100447 T ES95100447 T ES 95100447T ES 2145168 T3 ES2145168 T3 ES 2145168T3
Authority
ES
Spain
Prior art keywords
model
objective
data
orientation
scale
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
ES95100447T
Other languages
English (en)
Inventor
Allen Gee
David M Doria
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Raytheon Co
Original Assignee
Raytheon Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Raytheon Co filed Critical Raytheon Co
Application granted granted Critical
Publication of ES2145168T3 publication Critical patent/ES2145168T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • G06V10/7515—Shifting the patterns to accommodate for positional errors

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Computing Systems (AREA)
  • Evolutionary Computation (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Databases & Information Systems (AREA)
  • Artificial Intelligence (AREA)
  • Health & Medical Sciences (AREA)
  • Multimedia (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

UN SISTEMA (10) PARA DETERMINAR LA ACTITUD (TRANSLACION, ROTACION Y ESCALA), O POSICION Y ORIENTACION, DE UN OBJETO MODELO (12) QUE MEJOR COINCIDA CON UN OBJETO OBJETIVO (11) DISPUESTO EN UN DATO DE IMAGEN (10). HACE ESTO MEDIANTE UN PROCESO ITERATIVO REALIZANDO PEQUEÑOS AJUSTES RELATIVOS A LA POSICION Y ORIENTACION ORIGINALES DEL OBJETO MODELO (12) HASTA QUE CONVERJA CON EL ESTADO QUE MEJOR COINCIDA CON EL OBJETO OBJETIVO (11) QUE SE ENCUENTRA EN EL DATO DE IMAGEN (10). EL SISTEMA (10) CONSTA DE UN DETECTOR DE BORDES (22) PARA PROCESAR LA IMAGEN DIGITALIZADA (10) Y PRODUCIR DATOS SOBRE LOS BORDES (23) REPRESENTATIVOS DE LOS BORDES DEL OBJETO OBJETIVO (11). HAY UNA MEMORIA PARA MODELOS (24) PARA ALMACENAR LOS DATOS DE MODELOS (24) CORRESPONDIENTES AL OBJETO MODELO (12) A DETECTAR. LOS DATOS DE MODELOS (24) COMPRENDEN UNA PLURALIDAD DE PUNTOS DE DATOS DISPUESTOS A LO LARGO DE LOS BORDES DEL OBJETO MODELO (12). HAY UN CALCULADOR DE VECTORES DE DISTANCIA MINIMA (25) ACOPLADO A LA MEMORIA DE MODELOS (24) Y AL DETECTOR DE BORDES (22) PARA PROCESAR LOS DATOS SOBRE LOS BORDES (23) Y LOS DATOS DE MODELOS (24) PARA CADA PUNTO DE DATOS DEL OBJETO MODELO (12) RELATIVO A CADA UNO DE LOS PUNTOS DEL OBJETO OBJETIVO (11) PARA GENERAR UN GRUPO DE VECTORES DE DISTANCIA MINIMA ENTRE EL OBJETO MODELO (12) Y EL OBJETO OBJETIVO (11). HAY UNA RED NEURAL (26) ACOPLADA AL CALCULADOR DE VECTORES DE DISTANCIA MINIMA (25) PARA DETERMINAR LOS AJUSTES DE TRANSLACION, ROTACION Y ESCALA QUE SE HAN DE HACER AL OBJETO MODELO (12) ADAPTADOS PARA TRASLADAR, ROTAR Y ESCALAR EL MODELO RESPECTO AL OBJETO OBJETIVO (12). HAY UN MODULO DE AJUSTE DE POSICIONES Y ORIENTACIONES (27) ACOPLADO ENTRE LA RED NEURAL (26) Y LA MEMORIA DE MODELOS (24) PARA AJUSTAR LA POSICION DEL OBJETO MODELO (12) RESPECTO AL OBJETO OBJETIVO (11) EN BASE A LOS AJUSTES DE TRANSLACION, ROTACION Y DE ESCALA DETERMINADOS PROPORCIONADOS POR LA RED NEURAL (26). EL CALCULO ITERATIVO DE LOS VECTORES DE DISTANCIA MINIMA, LA DETERMINACION DE LOS AJUSTES DE TRANSLACION, ROTACION Y ESCALA Y EL AJUSTE DE LA POSICION DEL MODELO ESTAN ADAPTADOS A LA REPOSICION DEL OBJETO MODELO (12) HASTA QUE QUEDE SUSTANCIALMENTE SUPERPUESTO AL OBJETO OBJETIVO (11) CON LO QUE SE OBTIENE UNA DETERMINACION DE LA POSICION Y ORIENTACION DEL OBJETO OBJETIVO (11) EN LA IMAGEN DIGITALIZADA (10). TAMBIEN SE PRESENTA UN METODO (20) PARA LA DETERMINACION DE LA POSICION Y LA ORIENTACION DEL OBJETO OBJETIVO (11) EN UNA IMAGEN DIGITALIZADA (21).
ES95100447T 1994-01-14 1995-01-13 Sistema y metodo de red neural para estimacion de posicion y orientacion. Expired - Lifetime ES2145168T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US08/186,181 US5459636A (en) 1994-01-14 1994-01-14 Position and orientation estimation neural network system and method

Publications (1)

Publication Number Publication Date
ES2145168T3 true ES2145168T3 (es) 2000-07-01

Family

ID=22683951

Family Applications (1)

Application Number Title Priority Date Filing Date
ES95100447T Expired - Lifetime ES2145168T3 (es) 1994-01-14 1995-01-13 Sistema y metodo de red neural para estimacion de posicion y orientacion.

Country Status (6)

Country Link
US (1) US5459636A (es)
EP (1) EP0665507B1 (es)
JP (1) JP2968184B2 (es)
DE (1) DE69516733T2 (es)
ES (1) ES2145168T3 (es)
IL (1) IL112328A (es)

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Also Published As

Publication number Publication date
DE69516733T2 (de) 2000-12-28
DE69516733D1 (de) 2000-06-15
IL112328A0 (en) 1995-03-30
US5459636A (en) 1995-10-17
JPH07311849A (ja) 1995-11-28
EP0665507A1 (en) 1995-08-02
EP0665507B1 (en) 2000-05-10
IL112328A (en) 1998-02-08
JP2968184B2 (ja) 1999-10-25

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