Morphological skeleton transforms for determining position and orientation of pre-marked objects

The feasibility of a pre-marking scheme for three-dimensional object recognition is demonstrated. The proposed scheme is based on the assumption that an object can be modeled by a small number of its distinct two-dimensional perspective projections. Circular markers are used to identify these views by determining their surface normals passing through their centers. The surface normal of the marker can be determined by analyzing the geometrical features of its acquired pseudo-ellipse image using morphological skeleton transforms. The position of the marker, on the other hand, has to be determined by acquiring two images from different viewing angles. The experimental results illustrate that the specific pseudo-Euclidean skeleton transform used can accurately determine the features of the ellipse to allow the successful application of the proposed pre-marking scheme.<>