Recognizing articulated objects using invariance

Articulated objects can have many degrees of freedom. Recognizing such an object in a single image can involve a search in a high-dimensional space that involves all these degrees of freedom, in addition to the usual unknown viewpoint. In this paper we use invariance to reduce this search space to a manageable size. Our method avoids feature detection for improved robustness. We apply the method to range images of objects such as back-hoes