An optimal sensing strategy of a proximity sensor system for recognition and localization of polyhedral objects

An algorithm is presented for the recognition and localization of 3-D polyhedral objects based on an optical proximity sensor system capable of measuring the depth and orientation of a local area of an object surface. Emphasis is given to the determination of an optimal sensor trajectory or an optimal probing, for efficient discrimination among all the possible interpretations. The determination of an optimal sensor trajectory for the next probing consists of the selection of optimal beam orientations based on the surface normal vector distribution of the multiple interpretation image (MII) and the selection of an optimal probing plane by projecting the MII onto the projection plane perpendicular to a selected beam orientation and deriving the optimal path on the projection plane. The selection of optimal beam orientation and probing plane is based on the measure of discrimination power of a cluster of surfaces of an MII. The measure of discrimination power is obtained by computing the utility of a cluster of surfaces, representing the expected number of interpretations that can be pruned. Simulation results are shown