The Merits of 2D View vs. 3D Based Model Matching

A comparison of view-based and 3D model-based methods for localisation of man-made objects is made in the context of a working system. A projection validation approach is taken in order to confirm location hypotheses, which is based upon quantitative statistical models of feature detection and orientation. Results are provided which suggest that 3D data from stereo vision systems might be better employed for the prediction of novel views of objects, rather than as a generator of spatial representation suitable for geometric reasoning.