CAD-based 3-D object recognition

The authors propose an approach to three-dimensional object recognition using computer-aided design (CAD)-based geometry models for freeform surfaces. Geometry is modeled with rational B-splines by defining surface patches and then combining these into a volumetric model of the object. Characteristic features are then extracted and subjected to a battery of tests to select an `optimal´ subset of surface features which are robust with respect to the sensor being used (e.g., laser range finder versus passive stereo) and permit recognition of the object from any viewing position. These features are then organized into a strategy tree that defines the order in which the features are sought, and any corroboration required to justify issuing a hypothesis. The authors propose the use of geometric sensor data integration techniques as a means for formally selecting surface features on free-form objects in order to build recognition strategies