Feature-based segmentation method, for segmenting a plurality of loosely-arranged duplicate articles and a group for actuating the method for supplying a packaging machine

摘要

A segmentation method for segmenting a plurality of duplicate articles (3) involves acquiring an image (M) of a sample article (30); calculating keypoint-descriptors of the image (M); defining an identifying figure (Z); acquiring a first image (I1) of a plurality of duplicate articles; matching keypoint-descriptor pairs; acquiring a position and an orientation of the identifying figure (Z) with respect to a first keypoint-descriptor pair having a match with a second keypoint-descriptor pair; defining an identifying figure; applying the two preceding stages to a plurality of keypoint-descriptor pairs; collecting together identifying figures of projection having a predetermined degree of superposing; defining a representative figure formed by a minimum predetermined number of identifying figures of projection, which has a same shape and dimension as an identifying figure of projection, and is selected to estimate a position of a corresponding article illustrated in the first image of a plurality of duplicate articles.