| 主权项 |
1. A method of identifying a target in a sensor range image, comprising:receiving first target parameter values P1 for a plurality of target parameters for a first target hypothesis of a plurality of target hypotheses, wherein said plurality of target parameters are selected from the group of parameters describing location and orientation of said target;wherein said sensor range image is notationally 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;receiving a first set of parameter extent values e1 for a plurality of target search parameters of said plurality of target parameters, where each value of said first set of parameter extent values e1 describes a search space range of a corresponding of said plurality of target parameters;electronically generating a first synthetic range image of said scene for said first 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 first synthetic range image Rs,1 is mathematically defined as Rs,1={rijs,1, i=1, . . . b, j=1 . . . c}, where b represents the number of columns of pixels in said synthetic range image, c represents the number of rows of pixels in said synthetic range image Rs,1, and rijs,1 represents the range between an object at point ij in said first synthetic range image and said sensor;electronically computing a first matching score C1 for said first target hypothesis, where said first matching score C1 is mathematically defined asC1=∑v=0k∑i=0b∑j=0c{var2dij1<Tvar3dij1≥T,T=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 asdij1={Minimum((rijS,1-Nij)2)iffi,jS,1=truevar1iffi,jS,1=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 first matching score C1 exceeds a pre-determined threshold score; and
when said first matching score C1 exceeds said pre-determined threshold score, declaring said 3-D wire grid target model and said first target parameter values P1 to be a match; when said first matching score C1 does not exceed said pre-determined threshold score:
determining whether said first matching score C1 is greater than a preceding matching score of a hypothesis immediately preceding said first matching score, and
when said first matching score C1 is greater than said preceding matching score:
setting intermediate search parameter values for said plurality of search parameters to be equal to said first parameter values;when said first matching score C1 is not greater than said preceding matching score:
setting intermediate search parameter values for said plurality of search parameters to be equal to parameter values of a preceding hypothesis that resulted in a highest matching score;computing upper search parameter bounds for each of said plurality of target parameters by adding one half of each of said set of first parameter extent values to its corresponding of said intermediate search parameter values;computing lower search parameter bounds for each of said plurality of target parameters by subtracting one half of each of said set of first parameter extent values to its corresponding of said intermediate search parameter values;randomly selecting a random value between said upper search parameter bounds and said lower search parameter bounds for each of said plurality of target parameters;setting second target parameter values P2 of said plurality of target parameters for a second target hypothesis by setting the value of each of said plurality of target parameter values equal to its corresponding said random value;generating a second synthetic range image of said scene Rs2 for said second target hypothesis by rendering said selected 3-D wire grid model at said second target parameter values P2, where said second synthetic range image is mathematically defined as Rs2={(rijs2), i=1, . . . b, j=1 . . . c}, wherein rijs2 represents the range between an object at point ij in said second synthetic range image and said sensor;electronically computing a second matching score C2 for said second target hypothesis, where said second matching score C2 is mathematically defined asC2=∑v=0k∑i=0b∑j=0c{var2dij1<Tvar3dij1≥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 asdij1={Minimum((rijS,1-Nij)2)iffi,jS,1=truevar1iffi,jS,1=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. |
