3 D Free - form Object Recognition using Indexing byContour
نویسندگان
چکیده
We address the problem of recognizing free-form 3D objects from a single 2D intensity image. A model-based solution within the alignment paradigm is presented which involves three major schemes { modeling, matching, and indexing. The modeling scheme constructs a set of model aspects which can predict the object contour as seen from any viewpoint. The matching scheme aligns the edgemap of a candidate model to the observed edgemap using an initial approximate pose. The major contribution of this paper involves the indexing scheme and its integration with modeling and matching to perform recognition. Indexing generates hypotheses specifying both candidate model aspects and approximate pose and scale. Hypotheses are ordered by likelyhood based on prior knowledge of pre-stored models and the visual evidence from the observed objects. A prototype implementation has been tested in recognition and localization experiments with a database containing 658 model aspects from 20 3D objects and 80 2D objects. Bench tests and simulations show that many kinds of objects can be handled accurately and eeciently even in cluttered scenes. We conclude that the proposed recognition-by-alignment paradigm is a viable approach to many 3D object recognition problems.
منابع مشابه
Combinatorial Geometry for Shape Representation and Indexing
Combinatorial geometry is the study of order and incidence properties of groups of geometric features. Ordering properties for point sets in 2-D and 3-D can be seen as a generalization of ordering properties in 1-D and incidences are conngurations of features that are non-generic such as collinearity of points. By deening qualitative shape properties using combinatorial geometry we get a common...
متن کاملRecognizing Objects by Matching Oriented Points
By combining techniques from geometric hashing and structural indexing, we have developed a new representation for recognition of free-form objects from three dimensional data. The representation comprises descriptive spin-images associated with each oriented point on the surface of an object. Constructed using single point bases, spin-images are data level shape descriptions that are used for ...
متن کاملView-Based 3-D Object Recognition using Shock Graphs
The shock graph is an emerging shape representation for object recognition, in which a 2-D silhouette is decomposed into a set of qualitative parts, captured in a directed acyclic graph. Although a number of approaches have been proposed for shock graph matching, these approaches do not address the equally important indexing problem. We extend our previous work in both shock graph matching and ...
متن کاملProbabilistic Indexing : A New Method of Indexing 3 D Model Data from 2 D
Recent research has indicated that indexing is a promising approach to fast model-based object recognition because it allows most of the possible matches between image point groups and model point groups to be quickly eliminated from consideration. Current indexing systems for the problem of recognizing general 3-D objects from single 2-D images require groups of four points to generate a key i...
متن کاملEvaluation of a hypothesizer for silhouette-based 3-D object recognition
Shape retrieval and shape-based object recognition are closely related problems; however, they have di2erent task contexts, performance criteria, and database characteristics. In previous work, we proposed a method for similarity-based 2-D shape retrieval using scale-space part decompositions, part-frequency distributions, and structural indexing. In this paper, we evaluate the use of that shap...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 1998