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Recognition and pose determination of 3-D objects using multiple views

  • Aleš Leonardis
  • Stane Kovačič
  • Franjo Pernuš
Posters
Part of the Lecture Notes in Computer Science book series (LNCS, volume 970)

Abstract

We present a method for automatic recognition and pose (orientation) determination of 3-D objects of arbitrary shape. The approach consists of an off-line stage in which the recognition and pose identification plan is derived and an on-line recognition and pose identification stage. To obtain the plan, the objects are observed from all possible views and for each view a shape feature vector is extracted. These vectors are then used to structure the views by a binary decision tree. Associated with each node in the decision tree is a measure indicating the reliability of making a correct decision at that particular node. This measure drives the procedure for an optimal next-view planning when additional views are necessary to resolve the ambiguities. The output of the first stage is the recognition-pose-identification plan which then guides the recognition and pose determination of an unknown object in an unknown pose. The system has been tested on a set of real objects using multiresolution NIP (non-information-preserving) shape features to characterize the views.

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Copyright information

© Springer-Verlag Berlin Heidelberg 1995

Authors and Affiliations

  • Aleš Leonardis
    • 1
  • Stane Kovačič
    • 1
  • Franjo Pernuš
    • 1
  1. 1.Faculty of Electrical Engineering and Computer ScienceUniversity of LjubljanaLjubljanaSlovenia

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