| 主权项 |
1. A method of identifying a target in a range image of a scene, comprising:
receiving target parameter values for a plurality of target parameters for a target hypothesis, wherein said plurality of target parameters are selected from the group of parameters describing location and orientation of said target, wherein said range image R is mathematically defined as R={(rij),i=1, . . . b,j=1 . . . c}, where b represents the number of columns of pixels in said sensor range image, c represents the number of rows of pixels in said sensor range image, and rij represents the range between an object at point ij in said sensor range image and said sensor; electronically generating a synthetic range image of said scene for said target hypothesis by rendering a 3-D wire grid model of a plurality of 3-D wire models of targets to be identified at said target parameter values; wherein one of said plurality of 3-D models has a surface which is a match to a surface of said target, where said synthetic range image Rs is mathematically defined as Rs={rijs,i=1, . . . b,j=1 . . . c}, where b represents the number of columns of pixels in said sensor range image, c represents the number of rows of pixels in said sensor range image, and rijs represents the range between an object at point ij in said synthetic range image and said sensor, wherein said generating a synthetic range image is performed using a graphics processing unit; electronically computing a matching score C for said target hypothesis, where said matching score C is mathematically defined asC=∑v=0k∑i=0b∑j=0c{var2dij<Tvar3dij≥T,whereT=L(12)v,where L is a first pre-determined value, where var2 is a second pre-determined value, where var3 is a third pre-determined value, where said second pre-determined value is greater than said third pre-determined value, where k is a fourth pre-determined value, where dij is a discrepancy between said sensor range image and said synthetic range image at location ij of said synthetic range image and is mathematically defined asdij={Minimum((rijS-Nij)2)iffi,jS=truevar1iffi,jS=false,where var1 is a fifth pre-determined value, where said fifth pre-determined value is greater than or equal said first pre-determined value, where Nij is mathematically defined as Nij={(rmn,m),m=(i−h), . . . (i+h),n=(j−w), . . . (j+w)}, where h is a sixth pre-determined value and w is a seventh pre-determined value;
electronically determining whether said matching score C exceeds a pre-determined threshold score; and electronically identifying said target model located and positioned according to said target parameter values to be a match to said target when said matching score C exceeds said pre-determined threshold score. |
