Three-dimensional object recognition and pose determination based on combined-edge and surface-shape data

Yi Tan; Herbert Freeman

doi:10.1117/12.150270

20 August 1993 Three-dimensional object recognition and pose determination based on combined-edge and surface-shape data

Yi Tan, Herbert Freeman

Author Affiliations +

Proceedings Volume 2059, Sensor Fusion VI; (1993) https://doi.org/10.1117/12.150270
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

This paper describes a new approach to the classical machine vision problem of 3-D object recognition and pose determination. The process begins by extracting contour edges from a given patterned-light image of an unknown object and postulates an initial object line structure. This line structure is used to guide placement of a set of small surface-attribute- determining windows, called `surface-attribute probes' (SAPs), over the image to determine whether the areas being examined show the presence of one or more intersecting planar or curved regions. The resulting information is used to refine the object line structure, i.e., to determine all face intersections and characterize each face. The process is repeated until no further refinement in region segmentation and surface-attribute determination appears feasible.

Citation Download Citation

Yi Tan and Herbert Freeman "Three-dimensional object recognition and pose determination based on combined-edge and surface-shape data", Proc. SPIE 2059, Sensor Fusion VI, (20 August 1993); https://doi.org/10.1117/12.150270

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