DocumentCode :
2463415
Title :
A spherical representation for the recognition of curved objects
Author :
Delingette, H. ; Hebert, M. ; Ikeuchi, K.
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
fYear :
1993
fDate :
11-14 May 1993
Firstpage :
103
Lastpage :
112
Abstract :
The authors introduce a surface representation for recognizing curved objects. The approach begins by representing an object by a discrete mesh of points built from range data or from a geometric model of the object. The mesh is computed from the data by deforming a standard shaped mesh, for example, an ellipsoid, until it fits the surface of the object. Local regularity constraints that the mesh must satisfy are defined. A canonical mapping is then defined between the mesh describing the object and a standard spherical mesh. A surface curvature index which is pose-invariant is stored at every node of the mesh. This object representation is used for recognition by comparing the spherical model of a reference object with the model extracted from a new observed scene. It is shown that the similarity between reference model and observed data can be evaluated, and it is also demonstrated that the pose of the reference object in the observed scene can be easily computed using this representation
Keywords :
computational geometry; computer vision; image recognition; object recognition; canonical mapping; curved objects recognition; discrete mesh of points; ellipsoid; geometric model; local regularity constraints; object representation; range data; reference model; spherical representation; standard shaped mesh; standard spherical mesh; surface curvature index; surface representation; Contracts; Data mining; Engine cylinders; Equations; Image segmentation; Layout; Monitoring; Shape; Surface fitting; Surface topography;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computer Vision, 1993. Proceedings., Fourth International Conference on
Conference_Location :
Berlin
Print_ISBN :
0-8186-3870-2
Type :
conf
DOI :
10.1109/ICCV.1993.378230
Filename :
378230
Link To Document :
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