Method and System for Determining Poses of Objects Field of the Invention

(76) Inventors: ggégalglb?sfjl’l A pose for an object in a scene is determined by ?rst rendering Cambrid ’e M A (Us) g ’ sets of Virtual images of a model of the object using a Virtual g ’ camera. Each set of Virtual images is for a different known _ pose the model, and constructing Virtual depth edge map from (21) Appl' NO" 12/648’190 each Virtual image, which are stored in a database. A set of . _ real images of the object at an unknown pose are acquired by (22) Flled' Dec‘ 28’ 2009 a real camera, and constructing real depth edge map for each _ _ _ _ real image. The real depth edge maps are compared with the Pubhcatlon Classl?catlon Virtual depth edge maps using a cost function to determine the (51) Int, Cl, known pose that best matches the unknown pose, wherein the G06T 15/50 (200601) matching is based on locations and orientations of pixels in H04N 7/18 (2006.01) the depth edge maps.