公开(公告)号：EP0307120A2

公开(公告)日：1989-03-15

申请号：EP88307954.3

申请日：1988-08-26

Applicant: THE GENERAL ELECTRIC COMPANY, p.l.c.

Inventor： Murray, David William ,  Castelow, David Arthur ,  Buxton, Bernard Francis

IPC: G06K9/46 ,  G06K9/68

CPC classification number: G06K9/4638 ,  G06K9/00201 ,  G06K9/469

Abstract: In a method and apparatus for the location and recognition of a simple (e.g. polyhedral) object (2), relative movement between the object and a video camera (1) is achieved by scanning of the camera or movement of the object. The object is surveyed by the camera, and pixels representing at least three successive images (3) generated by the camera are stored. The pixels are processed to locate edge-representing pixels (edgels). Visual motion vectors are computed at the edgels in the central one of the three images. The edgels are notionally linked into strings (18-36) representing edges of the object interconnected at vertices (12-17), to form a vertex-edge graph, which is subsequently segmented into topologically connected subgraphs. For each subgraph the distances of the vertices from the camera and their velocities relative to the camera are computed, and a partial wireframe of the object is derived from those distances. The partial wireframe is then compared with stored data relating to wireframe models to determine whether there is correspondence between the shape of the object and the shape represented by any of the models.

Abstract translation: 在用于定位和识别简单（例如多面体）物体（2）的方法和装置中，物体和摄像机（1）之间的相对移动通过扫描相机或物体的移动来实现。 物体被相机测量，并且存储表示由相机生成的至少三个连续图像（3）的像素。 处理像素以定位边缘表示像素（边缘）。 视觉运动矢量在三个图像的中心一个的边缘处计算。 边缘被视为链接到表示在顶点（12-17）互连的对象的边缘的字符串（18-36），以形成顶点边缘图，随后将其分割成拓扑连接的子图。 对于每个子图，计算顶点与相机的距离及其相对于相机的速度，并且从该距离导出对象的部分线框。 然后将部分线框与与线框模型相关的存储数据进行比较，以确定对象的形状与由任何模型表示的形状之间是否具有对应关系。