Precompiling a Geometrical Model into an Interpretation Tree for Object Recognition in Bin-picking Tasks

Given a 3D solid modcl of an object, we fint g e n m apparent shapes of an object unda vaxi w directions. Those appartnt shapes an then classit?ed into groups (rrp~esentative attitudes) based on dominant visible faces and other features. Basedon the gmuphg, id@genaatedin the farm of interprrtarion me. "le intapraation tree collsisp of two pam: the fint pan for ciadying a target region in an image into one of the shape groups, and the second pan fm determining the pncise atsitudc of the object within that p u p . We have dnreioped a set of des to find out what