Viewpoint-invariant image matching and generation of three-dimensional models from two-dimensional imagery

Abstract

A method and system for characterizing features in a source multifeatured three-dimensional object and for locating a best-matching three-dimensional object from a reference database of such objects by performing a viewpoint invariant search among the reference objects. The invention further includes the creation of a three-dimensional representation of the source object by deforming a reference object.

1 - 76 . (canceled) 
     
     
         77 . A method involving at least one source 2D image of a source 3D object, the method comprising:
 providing a reference 3D representation; and   simultaneously searching over rigid motions and deformations of the reference 3D representation to identify a best-match reference 3D representation most resembling the at least one source 2D projection,   wherein simultaneously searching comprises searching over rigid motions of the reference 3D representation and for each orientation of the reference 3D representation in the search over rigid motions of the reference 3D representation, using a closed form expression to compute a deformed reference 3D representation that generates a best-fit with the at least one source 2D image, and   wherein the best-match 3D representation is the deformed reference 3D representation for the orientation in the search that yields a best best-fit.   
     
     
         78 . The method of  claim 77 , wherein the closed form expression corresponds to a back-projection into 3D space of the at least one source 2D image. 
     
     
         79 . The method of claim  1 , wherein the closed form expression corresponds to de-projected positions in 3D space of feature items from the at least one source 2D image. 
     
     
         80 . The method of claim  1 , wherein simultaneously searching over rigid motions and deformations of the reference 3D representation to identify the best-match reference 3D representation most resembling the at least one source 2D projection is performed without generating any 2D projections of the reference 3D representation or deformed versions thereof. 
     
     
         81 . A method involving at least one source 2D image of a source 3D object, the method comprising:
 providing a reference 3D representation; and   searching over rigid motions and deformations of the reference 3D representation to identify a best match reference 3D representation most resembling the at least one source 2D projection,   wherein said searching involves applying both rigid motion and deformation operators to that reference 3D representation to generate multiple versions of the reference 3D representation, and for each version of the reference 3D representation, computing a measure of fit between that version of the reference 3D representation and the at least one source 2D image,   wherein the best-fit 3D representation is the version of the reference 3D representation that yields a best measure of fit, and   wherein the deformation operators are numerical representations of transformations that are of infinite dimension.   
     
     
         82 . The method of claim  1 , wherein searching over rigid motions and deformations of the reference 3D representation to identify a best match reference 3D representation most resembling the at least one source 2D projection is performed without actually generating any projections. 
     
     
         83 . A method involving at least one source 2D image of a source 3D object, the method comprising:
 providing a reference 3D representation; and   searching over rigid motions and deformations of the reference 3D representation to identify a best match reference 3D representation most resembling the at least one source 2D projection,   wherein said searching involves applying both rigid motion and deformation operators to that reference 3D representation to generate multiple versions of the reference 3D representation, and for each version of the reference 3D representation, computing a measure of fit between that version of the reference 3D representation and the at least one source 2D image,   wherein the best-fit 3D representation is the version of the reference 3D representation that yields a best measure of fit, and   wherein searching over rigid motions and deformations of the reference 3D representation to identify a best match reference 3D representation most resembling the at least one source 2D projection is performed without actually generating any projections.