Patent attributes
Methods are provided for locating 3D rectangular objects on surfaces, each object having substantially the same X, Y and Z dimensions as the other objects on the surface. An image of a surface having objects arranged thereon is obtained. The image includes pixels arranged in rows and columns. As each object has the same Z-dimension, the surface shown in the image is planar. From the image, the X and Y dimensions, and X, Y coordinates of a center for each object are determined. Edge points are detected utilizing gradient evaluation. The X and Y dimensions of the objects are determined by counting the frequency of distances between edge points and X, Y coordinates of the center location for each object is determined by identifying positions in the image that have a concentration of edge points at a distance equivalent to one-half the size (X or Y dimension) of the objects.
