Measurement of position and orientation of prismatic object using hierarchical Hough transform

The authors describe a method for recognizing the position and orientation of 3D prismatic objects with double slit lights in the conditions of a natural environment. The position and orientation of a prismatic object are measured using hierarchical Hough transform. Fusing images of double slit lights into a shading image, one can get stable results from a minimum amount of surface information. Since one extracts infrared rays reflected by a hot mirror and passed through an interference filter, one can apply the method in a natural environment. The method has the potential of being applied to the acquisition of the position and orientation of moving objects. Experimental results on the indication of the precise position and orientation of a prismatic object are presented