A 3-D Recognition and Positioning Algorithm Using Geometrical Matching Between Primitive Surfaces

In t h i s paper , we descr ibe an e f f i c i e n t a l g o r i t h m fo r 3-0 scene a n a l > s i s . This a l g o r i t h m uses a segmentat ion of the sur faces to i d e n t i f i e d i n t o geomet r i ca l p r i m i t t be i ves , the o r i g i n a l data being obta ined by a laser range f i n d e r . Moreover, the a l g o r i t h m es t imates p r e c i s e l > the l o c a t i o n and o r i e n t a t i o n of an i d e n t i f i e d ob jec t of the scene. Resul ts are presented on rea l objec t s .