3D object recognition: Representation and matching |
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Authors: | Jain Anil K Dorai Chitra |
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Institution: | (1) Department of Computer Science, Michigan State University, East Lansing, Michigan, 48824;(2) IBM T.J. Watson Research Center, P.O. Box 704, Yorktown Heights, New York, 10598 |
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Abstract: | Three-dimensional object recognition entails a number of fundamental problems in computer vision: representation of a 3D object, identification of the object from its image, estimation of its position and orientation, and registration of multiple views of the object for automatic model construction. This paper surveys three of those topics, namely representation, matching, and pose estimation. It also presents an overview of the free-form surface matching problem, and describes COSMOS, our framework for representing and recognizing free-form objects. The COSMOS system recognizes arbitrarily curved 3D rigid objects from a single view using dense surface data. We present both the theoretical aspects and the experimental results of a prototype recognition system based on COSMOS. |
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Keywords: | three-dimensional objects representation recognition localization registration view integration automatic 3D object modeling free-form objects sculpted surfaces intensity data range images digital interferometry |
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