A relational pyramid approach to view class determination

Given a CAD model of an object, the authors would like to automatically generate a vision model and matching procedure that can be used in robot guidance and inspection tasks. They are building a system that can predict features that will appear in a 2D view of a 3D object, represent each such view with a hierarchical, relational structure, group together similar views into view classes, and match an unknown view to the appropriate view class to find its pose. They describe the relational pyramid structure for describing the features in a particular view or view class of an object, the summary structure that is used to summarize the relational information in the relational pyramid, and an accumulator-based method for rapidly determining the view class(es) that best match an unknown view of an object