A Graph-Theoretic Approach to 3-D Object Recognition and Estimation of Position and Orientation

  • E. K. Wong
  • K. S. Fu


This paper describes a new technique for modeling and recognition of 3-D objects. 3-D objects are modeled as graphs where the nodes correspond to object vertices and the branches correspond to object edges. Allowable junction types at each object vertex are assigned as the property at the corresponding node of the model graph. Allowable junction type combinations of the neighboring vertices at a given vertex are established as contraints required at the corresponding node of the model graph. The 2-D projections of an object are modeled as subgraph isomorphisms of the model graph. Recognition is by searching if a 2-D projection graph is a subgraph isomorphism of the model graph, and each node in the projection graph also satisfies the constraints at the node of the model graph matched. Techniques are described for the estimation of position and orientation of a 3-D object based on the proposed scheme. Experiments are conducted to evaluate the performance.


Object Recognition Model Graph Neighboring Node Line Drawing Subgraph Isomorphism 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Plenum Press, New York 1985

Authors and Affiliations

  • E. K. Wong
    • 1
  • K. S. Fu
    • 1
  1. 1.School of Electrical EngineeringPurdue UniversityWest LafayetteUSA

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