Uncertainty update and dynamic search window for model-based object recognition

The notion of uncertainty manipulation in robot navigation is applied to the task of model-based object recognition. Based on the fact that every detected object feature in an image must be associated with some uncertainty, the authors show how to iteratively refine the estimate of pose uncertainty of a hypothesized object when a new feature is matched, and how to dynamically determine a proper search window to look for the next model feature. The advantage of this method over the conventional static search window is demonstrated in an actual object recognition task