Granted Patent B2

US 12,380,599 · App. 17/454,347 · Granted Aug 5, 2025

Inventors: Daniel Milan Lütgehetmann (Lausanne, CH); Dimitri Zaganidis (Granges, CH); Nicolas Alain Berger (Fribourg, CH); Felix Schürmann (Grens, CH)

Assignee: INAIT SA

G06T7/75G06T7/74H04N23/64G06T2207/30244

Abstract

Claims (27)

1. A method for characterizing correctness of image processing, the method comprising:

receiving images of an instance of an object, wherein the images were acquired at different relative poses;

identifying positions of corresponding landmarks on at least a first portion of the instance of the object in each of the received images;

receiving information characterizing a difference in position or a difference in orientation of at least one of

the instance of the object and

one or more imaging devices when the images were acquired,

wherein receiving the information characterizing the difference in position or the difference in orientation comprises

identifying either a second, different object or a second, different portion of the instance of the object in the images of the instance of the object, and

determining the difference in position or the difference in orientation based on the second object or the second portion of the instance of the object, wherein the at least the first portion of the instance of the object used for identifying corresponding landmarks is excluded from the determination of the difference in position or the difference in orientation;

transferring the positions of landmarks identified in a first of the images based on the difference in position or the difference in orientation to obtain transferred landmarks on the first portion of the object;

comparing the positions of the transferred landmarks with the positions of the corresponding of the landmarks identified in a second of the received images; and

characterizing, based on the comparison of the positions of the transferred landmarks with the positions of the corresponding of the landmarks on at least the first portion of the instance of the object, a correctness of the identification of the positions of the landmarks in at least one of the received images.

2. The method of claim 1 , wherein identifying the positions of the corresponding landmarks comprises estimating relatives poses of the object and the one or more imaging devices.

3. The method of claim 1 , wherein the information characterizing the difference in position or the difference in orientation characterizes a different of both of the object and the imaging device or devices.

4. The method of claim 1 , wherein the characterizing the correctness of the identification of the positions of the landmarks comprises:

transferring the positions of landmarks identified in a second and a third of the images based on respective differences in position or differences in orientation; and

combining the transferred landmarks from the first, the second, and the third of the images.

5. The method of claim 4 , wherein characterizing the correctness of the identification of the positions of the landmarks further comprises comparing the positions of the combined transferred landmarks with the positions of the corresponding of the landmarks identified in the second of the received images.

6. The method of claim 1 , wherein transferring the positions of landmarks comprises:

receiving a three-dimensional model of the object; and

projecting the three-dimensional model of the object to determine the positions of the landmarks.

7. The method of claim 1 , further comprising:

comparing the correctness of the identification of the positions of the landmarks to a threshold level of correctness; and

in response to determining that the correctness of the estimation of the relative pose does not satisfy the threshold level of correctness, receiving one of more additional images of the instance of the object and identifying positions of corresponding landmarks, receiving information characterizing the difference, transferring positions of the landmarks, comparing the positions of the transferred landmarks, and characterizing a correctness of the identification of the positions of the landmarks for the one of more additional images.

8. The method of claim 1 , further comprising:

comparing the correctness of the identification of the positions of the landmarks to a threshold level of correctness; and

in response to determining that the correctness of the estimation of the relative pose does not satisfy the threshold level of correctness, excluding the identification of the positions of the landmarks from further image processing.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (400)