3-D Object Recognition By Multiple-Contour Matching

Hung-Tat Tsui; Kin -Cheong Chu; Ming-Hong Chan

doi:10.1117/12.942758

19 February 1988 3-D Object Recognition By Multiple-Contour Matching

Hung-Tat Tsui, Kin -Cheong Chu, Ming-Hong Chan

Proceedings Volume 0848, Intelligent Robots and Computer Vision VI; (1988) https://doi.org/10.1117/12.942758
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States

Abstract

In this paper, we propose a method of recognition using depth map data directly. Particularly, the method is suitable for recognition of objects with irregular shape. A 3-D object is represented by a number of surface patches called subtemplates. The surface patches are extracted directly from the depth maps of the object using a rotational invariant spherical window of constant radius. To facilitate matching, a surface patch is represented by a number of closed contours formed by the intersections of concentric spheres of different radii with the patch. Experimental results are quite good and the method has been used sucessfully for the recognition of partially occluded 3D objects.

Citation Download Citation

Hung-Tat Tsui, Kin -Cheong Chu, and Ming-Hong Chan "3-D Object Recognition By Multiple-Contour Matching", Proc. SPIE 0848, Intelligent Robots and Computer Vision VI, (19 February 1988); https://doi.org/10.1117/12.942758

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