Recognition using labelled objects

General object recognition is a difficult problem. We (1997) proposed a solution for object recognition in an unconstrained environment. We simplified the recognition problem by attaching a special planar pattern on objects of interest. This approach allows us to determine the pose easily. A robust detector for the pattern was developed for the first stage of the solution. This paper investigates the next part of the recognition process, i.e. matching of the models using a modified technique based on the Chamfer matching algorithm. The algorithm is enhanced by augmenting the matching process by an additional step which promotes consistency of image gradient directions of the corresponding points