(12) United States Patent (10) Patent No.: US 9,082,219 B2 Haanpaa Et Al
US009082219B2 (12) United States Patent (10) Patent No.: US 9,082,219 B2 Haanpaa et al. (45) Date of Patent: *Jul. 14, 2015 (54) ORIENTATION INVARIANT OBJECT (52) U.S. Cl. IDENTIFICATION USING MODEL-BASED CPC .............. G06T 15/10 (2013.01); G06K9/0063 IMAGE PROCESSING (2013.01); G06K9/3241 (2013.01); G06T 15/00 (2013.01) (71) Applicant: Cybernet Systems Corporation, Ann (58) Field of Classification Search Arbor, MI (US) CPC .............................. G06K9/0063; G06T 15/10 USPC .......................................... 382/103, 206, 209 (72) Inventors: Douglas Haanpaa, Dexter, MI (US); See application file for complete search history. Charles J. Cohen, Ann Arbor, MI (US); Glenn J. Beach, Grass Lake, MI (US); (56) References Cited Charles J. Jacobus, Ann Arbor, MI (US) U.S. PATENT DOCUMENTS (73) Assignee: Cybernet Systems Corporation, Ann 3,976,999 A 8, 1976 Moore et al. Arbor, MI (US) 3,992,710 A 11/1976 Gabriele et al. (*) Notice: Subject to any disclaimer, the term of this (Continued) patent is extended or adjusted under 35 Primary Examiner — Gregory M Desire U.S.C. 154(b) by 0 days. (74) Attorney, Agent, or Firm — Gifford, Krass, Sprinkle, This patent is Subject to a terminal dis Anderson & Citkowski, P.C. claimer. (57) ABSTRACT (21) Appl. No.: 14/242,560 A system for performing object identification combines pose determination, EO/IR sensor data, and novel computer graph (22) Filed: Apr. 1, 2014 ics rendering techniques. A first module extracts the orienta tion and distance of a target in a truth chip given that the target (65) Prior Publication Data type is known.
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