METHOD FOR ESTIMATING THE POSITION OF AN OBJECT IN A COMPUTER-ASSISTED MANNER

摘要

The method for estimating the position of an object in a computer-assisted manner uses a model database with features (m) of the object (0), each feature (m) being assigned to a local position (x) on the object. A hypothesis for an object pose is ascertained on the basis of camera images (B) of the object (0). An improved estimation of the object position is obtained by minimizing an error function (ferr) using a sensor model of the camera system and the hypothesis for the object pose. Finally, a probability distribution (p) of the estimated object pose is ascertained using a function (f) that is implicitly defined by the minimization of the error function (ferr). A precise estimation of an object pose is obtained together with a measurement of the uncertainty of said estimation in the form of a probability distribution. The latter can be used in order to reject estimated object positions if the spread of the probability distribution is too large.