The present invention provides a system for scoring candidate poses in a geometric pattern matching tool for a vision system by using trained color, grayscale and/or range (height) information (color/grayscale/range) in association with edge-aligning candidate poses and a method thereof. A trained pattern includes relevant color/grayscale/range information in a set of test points. At the runtime, color, grayscale and/or range images are acquired and/or provided. A runtime pose is established through a coordinate space for the color/grayscale/range images for the trained pattern in which the runtime pose is generated by an alignment tool. Color/grayscale/range test points are mapped to the coordinate space for the images. A match is then determined at each mapped test point. Based on the test point match, scores are determined. The scores are used in association with the alignment results at the runtime to accept or reject candidate poses from, for example, the acquired images of runtime objects.
SYSTEM AND METHOD FOR SCORING COLOR CANDIDATE POSES AGAINST A COLOR IMAGE IN A VISION SYSTEM