Method for object localization and pose estimation for an object of interest

摘要

A method for locating and estimating a pose of a known object in a field of view of a vision system is described, and includes developing a processor-based model of the known object, capturing a bitmap image file containing an image of the field of view containing the known object, extracting features from the bitmap image file, matching the extracted features with features associated with the model of the known object, locating an object in the bitmap image file based on the extracted features, grouping the extracted features of the localized Object, merging the grouped extracted features, detecting the known object in the field of view based on a comparison of the merged grouped extracted features and the processor-based model of the known object, and estimating a pose of the detected known object in FIG the field of view based on the detection of the known object.