US 11,887,347 B2
Device-to-image registration method, apparatus, and storage medium
Santosh Narayan Ganesan, Brookline, MA (US); and Barret Daniels, Cambridge, MA (US)
Assigned to Canon U.S.A., Inc., Melville, NY (US)
Filed by Canon U.S.A., Inc., Melville, NY (US)
Filed on Jul. 15, 2021, as Appl. No. 17/377,191.
Claims priority of provisional application 63/062,227, filed on Aug. 6, 2020.
Prior Publication US 2022/0044057 A1, Feb. 10, 2022
Int. Cl. G06K 9/00 (2022.01); G06V 10/22 (2022.01); G06V 10/40 (2022.01); G06F 18/22 (2023.01)
CPC G06V 10/225 (2022.01) [G06F 18/22 (2023.01); G06V 10/40 (2022.01)] 24 Claims
OG exemplary drawing
 
1. A device to image registration method comprising:
obtaining image data of a device, the device including a plurality of fiducials arranged as a fiducial frame on the device;
detecting fiducial objects within the image data;
cropping the image data to generate cropped image data;
applying a feature enhancement to the cropped image data to enhance the fiducial objects;
generating a candidate list of candidate objects based on the feature enhancement, and determining a common plane based on at least three points in the candidate list;
determining a representative point for each candidate object;
determining outlier candidate objects based on the common plane;
determining resultant objects by extracting the outlier candidate objects from the candidate list; and
registering the resultant objects to the device by matching representative points of the resultant objects with a model of the fiducial frame.