US5220619A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method of matching a variable two-dimensional image of a known three-dimensional object with a desired two-dimensional image of the object, and device for carrying out the method
Assignee: US Philips Corp
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Filing: 1992-05-26
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Granted: 1993-06-15
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Expires: 2012-05-26
Abstract
Abstract The position of an object is determined by calculating the coordinates of the center of gravity of the overall image of the object supplied by an image sensor and the coordinates of the centers of gravity of, for example, quadrants converging in the center of gravity of the overall image on the basis of a binary silhouette of the object. These coordinates are compared with desired values in order to change subsequently the orientation of the sensor with respect to the object so that the difference between the coordinates to be calculated and the desired coordinates is minimized. The sensor is moved in orientation and/or position relative to the image sensor in step-wise fashion in order that the image approaches a reference image.
Inventors
- 👤 Robert M. Keokoek
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-28 23:26
CPC Classifications
G; G06; G06V; G06V10/00; G06V10/70; G06V10/74; G06V10/75; G06V10/751; G06V10/7515
Claims Analysis
Total Claims: 15
Claim 1
Independent Claim
171 words
A method of changing the location of a three-dimensional object relative to a point of view so that a projection image of the object from the point of view approaches conformance with a reference image, comprising the steps of: a) generating a projection image of the object for a present location of the object relative to the point of view; b) determining a scalar global parameter which is a measure of conformance of the projection image with the reference image, said determining including a step being selected from the group consisting of comparing areas in the projection and reference images, comparing centers of gravity in the projection and reference images and modulo-2 subtracting one of the projection and reference images from the other; c) determining a change in the location of the object relative to the point of view, from the present location to a new location which minimizes the scalar global parameter; and d) repeating step a) for the new location of the object relative to the point of view.
Claim 2
Independent Claim
171 words
A method of changing the location of a three-dimensional object relative to a point of view so that a projection image of the object from the point of view approaches conformance with a reference image, comprising the steps of: a) generating a projection image of the object for a present location of the object relative to the point of view; b) determining a scalar global parameter which is a measure of conformance of the projection image with the reference image, said determining including a step being selected from the group consisting of comparing areas in the projection and reference images, comparing centers of gravity in the projection and reference images and modulo-2 subtracting one of the projection and reference images from the other; c) determining a change in the location of the object relative to the point of view, from the present location to a new location which minimizes the scalar global parameter; and d) repeating step a) for the new location of the object relative to the point of view.
Claim 3
Dependent Claim
16 words
A method as claimed in claim 1, wherein the projection and reference images are binary silhouettes.
Claim 4
Dependent Claim
26 words
A method as claimed in claim 1, wherein the projection image is generated by sensing the object with an image sensor at the point of view.
Claim 5
Dependent Claim
37 words
A method as claimed in claim 1, wherein the projection image is generated by a computer which provides an image of the object as if it were sensed by an image sensor at the point of view.
Claim 6
Dependent Claim
29 words
A method as claimed in claim 4, wherein the image sensor is accommodated in a grip and further comprising the final step of gripping the object with the grip.
Claim 7
Dependent Claim
51 words
A method as claimed in claim 5, wherein a new projection image is generated for the new location of the object relative to the point of view after displacing the grip in space on the basis of the determined change in location of the object relative to the point of view.
Claim 8
Dependent Claim
21 words
A method as claimed in claim 1, further comprising the initial step of generating the reference image with an image sensor.
Claim 9
Dependent Claim
42 words
A method as claimed in claim 1, wherein the parameter is determined from the centers of gravity of four quadrants of the projection image, the origin of the four quadrants being situated in the overall center of gravity of the projection image.
Claim 10
Dependent Claim
41 words
A method as claimed in claim 1, wherein the change in location of the object relative to the point of view is determined using a linear multivariable algorithm which algorithm is used to determine a step-wise change of the projection image.
Claim 11
Dependent Claim
28 words
A method as claimed in claim 8, wherein the linear multivariable algorithm is a simplex algorithm where a simplex is the simplest geometric structure containing an N-dimensional volume.
Claim 12
Dependent Claim
160 words
A method as claimed in claim 9, where a finite set of groups of parameters is associated with each image, characterized in that for at least two parameters there are determined a number of reference pairs of each time one of the parameters, it being known which step-wise changes are required to obtain the reference image from the projection image associated with a reference pair, the projection images associated with all remaining pairs being compared with those associated with the reference pairs, the remaining pairs respectively being classified as the reference pair of the projection image with which they correspond best, and in order to obtain a new projection image, starting from a current projection image, the step-wise changes being executed which are necessary and known to obtain the reference image from the projection image added to the current projection image and associated with the reference pair which is the classification of the remaining pair associated with the current image.
Claim 13
Independent Claim
188 words
A device for changing the location of a three-dimensional object relative to a point of view so that a projection image of the object from the point of view approaches conformance with a reference image, comprising: a) an image generator for generating a projection image of the object for a location of the object relative to the point of view; b) means for determining a scalar global parameter which is a measure of conformance of the projection image with the reference image, said determining including a step being selected from the group consisting of comparing areas in the projection and reference images, comparing centers of gravity in the projection and reference images and modulo-2 subtracting one of the projection and reference images from the other, and for forming an adjustment signal corresponding to a change in the location of the object relative to the point of view, from the present location to a new location, relative to the point of view, which minimizes the scalar global parameter; and c) means responsive to the adjustment signal for adjusting the location of the object relative to the point of view.
Claim 14
Independent Claim
188 words
A device for changing the location of a three-dimensional object relative to a point of view so that a projection image of the object from the point of view approaches conformance with a reference image, comprising: a) an image generator for generating a projection image of the object for a location of the object relative to the point of view; b) means for determining a scalar global parameter which is a measure of conformance of the projection image with the reference image, said determining including a step being selected from the group consisting of comparing areas in the projection and reference images, comparing centers of gravity in the projection and reference images and modulo-2 subtracting one of the projection and reference images from the other, and for forming an adjustment signal corresponding to a change in the location of the object relative to the point of view, from the present location to a new location, relative to the point of view, which minimizes the scalar global parameter; and c) means responsive to the adjustment signal for adjusting the location of the object relative to the point of view.
Claim 15
Dependent Claim
18 words
A device as claimed in claim 12, further comprising means for generating the reference image of the object.
References Cited (Backward Citations)
US4658428A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1996-06-14 | 1996-12-14 | 1997-06-15 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2000-06-14 | 2000-12-14 | 2001-06-15 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2004-06-14 | 2004-12-14 | 2005-06-15 | $7700.00 | Window Closed / Lapsed |