METHOD AND APPARATUS FOR RECOGNITION OF OBJECTS VIA POSITION AND ORIENTATION CONSENSUS OF LOCAL IMAGE ENCODING

A method for recognition of an object in an image is provided, the method comprising the steps of: capturing in electronic memory multiple model images of the object; selecting from each captured model image multiple model image patches; encoding respective selected model image patches as respective sets of inner products of respective image patch data and a set of two-dimensional functions such that the respective sets of inner products include information useful in computing a pose estimate for the object; capturing in the electronic memory a current image; selecting from the captured current image multiple current image patches; encoding respective selected current image patches as respective sets of inner products of respective image patch data and the set of two-dimensional functions such that the respective sets of inner products include information useful in computing a pose estimate for the object; comparing respective current image patch encodings with respective model image patch encodings; identifying respective matches between current image patches and model image patches based upon said comparisons; computing respective object pose estimates that correspond to respective matches of current image patches and model image patches using respective inner products from such respective matching patches; identifying a respective object pose estimate that corresponds to the largest number of patch matches; and determining whether the object has been identified based upon the number of patch matches that correspond to the respective identified pose estimate.