A Geometric Matcher For Recognizing And Positioning 3-D Rigid Objects

N. Ayache; O. Faugeras; B. Faverjon

doi:10.1117/12.946175

17 January 1985 A Geometric Matcher For Recognizing And Positioning 3-D Rigid Objects

N. Ayache, O. Faugeras, B. Faverjon

Proceedings Volume 0521, Intelligent Robots and Computer Vision; (1985) https://doi.org/10.1117/12.946175
Event: 1984 Cambridge Symposium, 1984, Cambridge, United States

Abstract

We propose to use simple geometric primitives like points, lines and planes to represent 3-D shapes for purposes of recognition and positioning. We suggest that the general paradigm of hypothesis prediction and verification is well suited to this task if recognizing and positioning are done simultaneously. We propose a mathematical solution to the problem of estimating best 3-D rigid displacements from such sets of geometric primitives and show that such estimation can be done recursively.

Citation Download Citation

N. Ayache, O. Faugeras, and B. Faverjon "A Geometric Matcher For Recognizing And Positioning 3-D Rigid Objects", Proc. SPIE 0521, Intelligent Robots and Computer Vision, (17 January 1985); https://doi.org/10.1117/12.946175

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