Recognising Polyhedral Objects from a Single Perspective View

This paper considers the problem of recognising 3D polyhedral objects from a single perspective image. A hypothesis-verification paradigm based on a local shape representation is presented. In the framework, 2D vertices interpreted as the projection of a trihedral vertex which is a 3D spatial vertex with three line emanating from the tip are employed as seed features for model invocation and hypothesis generation. To simplify the perspective analysis, Kanatani [7] has proposed an intuitive and elegant technique. Using the technique, we derive a fourth-degree polynomial for interpreting a trihedral vertex. The contribution of our solution is that there are no restrictions on angles between the vertex edges. To reduce the number of hypotheses generated from scene-model vertex assignments, and recover the complete object pose, we propose a composite feature, namely vertex-CS feature by combining a trihedral vertex and a V-junction which share a common edge. The geometric constraint of this composite feature is derived. A matching strategy used in the recognition system is discussed. The feasibility of the proposed method is illustrated on real data.