DocumentCode :
745816
Title :
Recognizing large isolated 3-D objects through next view planning using inner camera invariants
Author :
Roy, Sumantra Dutta ; Chaudhury, Santanu ; Banerjee, Subhashis
Author_Institution :
Dept. of Electr. Eng., Indian Inst. of Technol. Mumbai, Powai, India
Volume :
35
Issue :
2
fYear :
2005
fDate :
4/1/2005 12:00:00 AM
Firstpage :
282
Lastpage :
292
Abstract :
Most model-based three-dimensional (3D) object recognition systems use information from a single view of an object. However, a single view may not contain sufficient features to recognize it unambiguously. Further, two objects may have all views in common with respect to a given feature set, and may be distinguished only through a sequence of views. A further complication arises when in an image, we do not have a complete view of an object. This paper presents a new online scheme for the recognition and pose estimation of a large isolated 3D object, which may not entirely fit in a camera´s field of view. We consider an uncalibrated projective camera, and consider the case when the internal parameters of the camera may be varied either unintentionally, or on purpose. The scheme uses a probabilistic reasoning framework for recognition and next-view planning. We show results of successful recognition and pose estimation even in cases of a high degree of interpretation ambiguity associated with the initial view.
Keywords :
feature extraction; image sequences; inference mechanisms; object detection; object recognition; planning (artificial intelligence); video cameras; model-based three-dimensional object recognition system; next-view planning; pose estimation; probabilistic reasoning framework; uncalibrated projective camera; Cameras; Computer science; Knowledge representation; Object recognition; Photometry; Robot vision systems; Two dimensional displays; Active 3-D object recognition; inner camera invariants; next-view planning; pose estimation; Algorithms; Artificial Intelligence; Cluster Analysis; Computer Simulation; Image Enhancement; Image Interpretation, Computer-Assisted; Imaging, Three-Dimensional; Information Storage and Retrieval; Models, Statistical; Numerical Analysis, Computer-Assisted; Pattern Recognition, Automated; Photography; Reproducibility of Results; Sensitivity and Specificity; Signal Processing, Computer-Assisted; Subtraction Technique;
fLanguage :
English
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
Publisher :
ieee
ISSN :
1083-4419
Type :
jour
DOI :
10.1109/TSMCB.2004.842414
Filename :
1408057
Link To Document :
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