Determining article location and orientation using three-dimensional X and Y template edge matrices

Claim 1

A method to identify the location and orientation of an article, the article placed on a surface, the method comprising the steps of: obtaining an plurality of images of the article with the article having a known orientation and location relative to a camera with the plurality of images representing views from a plurality of positions; creating X and Y template edge matrices from each of the images of the article; creating a three dimensional X edge matrix from the plurality of X template edge matrices; creating a three dimensional Y edge matrix from the plurality of Y template edge matrices; creating a plurality of sets of modified three dimensional template edge matrices, each of the sets of modified three dimensional template edge matrices being a three dimensional X or Y template edge matrix with the article in a different orientation; obtaining an plurality of images of the article with the article having a unknown orientation or location relative to a camera with the plurality of images representing views from a plurality of positions; creating X and Y edge matrices from each of the images of the article in an unknown orientation and location; creating a three dimensional X edge matrix from the plurality of X edge matrices with the article in an unknown orientation and location; creating a three dimensional Y edge matrix from the plurality of Y edge matrices with the article in an unknown orientation and location; quantifying difference between each of the sets of modified three dimensional template edge matrices and the three dimensional X and Y edge matrices of the article in an unknown orientation and location with the modified three dimensional template edge matrices placed at a plurality of locations within the bounds of the three dimensional edge matrices of the article in an unknown orientation and location; and identifying the location and orientation of the article as the location and orientation of the article represented by the set of modified three dimensional template edge matrices with the minimal quantified differences between the modified three dimensional template edge matrices and the three dimensional X and Y edge matrices of the article in an unknown orientation and location.

Claim 2

A method to identify the location and orientation of an article, the article placed on a surface, the method comprising the steps of: obtaining an plurality of images of the article with the article having a known orientation and location relative to a camera with the plurality of images representing views from a plurality of positions; creating X and Y template edge matrices from each of the images of the article; creating a three dimensional X edge matrix from the plurality of X template edge matrices; creating a three dimensional Y edge matrix from the plurality of Y template edge matrices; creating a plurality of sets of modified three dimensional template edge matrices, each of the sets of modified three dimensional template edge matrices being a three dimensional X or Y template edge matrix with the article in a different orientation; obtaining an plurality of images of the article with the article having a unknown orientation or location relative to a camera with the plurality of images representing views from a plurality of positions; creating X and Y edge matrices from each of the images of the article in an unknown orientation and location; creating a three dimensional X edge matrix from the plurality of X edge matrices with the article in an unknown orientation and location; creating a three dimensional Y edge matrix from the plurality of Y edge matrices with the article in an unknown orientation and location; quantifying difference between each of the sets of modified three dimensional template edge matrices and the three dimensional X and Y edge matrices of the article in an unknown orientation and location with the modified three dimensional template edge matrices placed at a plurality of locations within the bounds of the three dimensional edge matrices of the article in an unknown orientation and location; and identifying the location and orientation of the article as the location and orientation of the article represented by the set of modified three dimensional template edge matrices with the minimal quantified differences between the modified three dimensional template edge matrices and the three dimensional X and Y edge matrices of the article in an unknown orientation and location.