3-D object recognition using a new invariant relationship by single-view

We propose a new method for recognizing three-dimensional objects using a three dimensional invariant relationship and geometric hashing by singleview. We develop a special structure consisting of four co-planar points and any two non-coplanar points with respect to the plane. We derive an invariant relationship for the structure, which is represented by a plane equation. For the recognition of 3-D objects using the geometric hashing, a set of points on the plane, thereby satisfying the invariant relationship, are mapped into a set of points intersecting the plane and the unit sphere. Since the structure is much more general than the previous structures proposed by Rothwell et al. [1] and Zhu et al. [2,3], it gives enough many voting to generate hypotheses. We also show that from the proposed invariant relationship, an invariant for the structure by two-view and an invariant for a structure proposed by Zhu et al. [2,3]can also be derived. Experiments using 3-D polyhedral objects and an outdoor building scene are carried out to demonstrate the feasibility of our method for 3-D object recognition Keyword : 3-D Object Recognition, One-Viewed Invariant Relationship, Geometric Hashing