Journal Article10.1109/TPAMI.1987.4767935
Localizing Overlapping Parts by Searching the Interpretation Tree
TL;DR: The approach operates by examining all hypotheses about pairings between sensed data and object surfaces and efficiently discarding inconsistent ones by using local constraints on distances between faces, angles between face normals, and angles of vectors between sensed points.
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Abstract: This paper discusses how local measurements of positions and surface normals may be used to identify and locate overlapping objects. The objects are modeled as polyhedra (or polygons) having up to six degrees of positional freedom relative to the sensors. The approach operates by examining all hypotheses about pairings between sensed data and object surfaces and efficiently discarding inconsistent ones by using local constraints on: distances between faces, angles between face normals, and angles (relative to the surface normals) of vectors between sensed points. The method described here is an extension of a method for recognition and localization of nonoverlapping parts previously described in [18] and [15].
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Citations
A Line-Based Pose Estimation Algorithm for 3-D Polyhedral Object Recognition
Tae-Jung Lho,Dong-Joong Kang,Jong-Eun Ha +2 more
- 14 May 2004
TL;DR: An iterative least-square method is used to solve both rotation and translation simultaneously and Levenberg-Marquardt algorithm is introduced with uniform sampling strategy of rotation space to avoid stuck in local minimum.
The use of FFT on sampled boundary distances
D.T. Wang,Y.N. Hew,Jin-Shyan Lee,K.-Y. Chern,C.-S. Wei,P.A. Ng +5 more
- 04 Nov 1990
TL;DR: The fast Fourier transform (FFT) is applied to the sampled boundary distances (SBD) of an object image for recognition, which can be used to recognize an object at various locations, orientations, and distances from the camera and various objects of the same family that are stretched along an axis.
Recognition, Tracking, and Pose Estimation of Arbitrarily Shaped 3-d Objects in Cluttered Intensity and Range Imagery
Paul G. Gottschalk,J. L. Turney,Arnold H. Chiu,Trevor Mudge +3 more
- 01 Apr 1991
TL;DR: A method that can recognize, track, and determine the pose of arbitrarily shaped, partially visible 3-d objects in both intensity and range imagery is developed.
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