Successive Pose Clustering for Steroscopic Object Recognition
نویسندگان
چکیده
The concept of generalized trihedral vertex (GTV) is proposed for 3d object representation. The concept covers not only polygonal objects but also curved objects including rounded edges and rounded corners. An effective algorithm is shown for matching two GTVs, one of which is constructed from stereoscopic images and the other of which is precompiled in the G T I database. Finally, we construct an efficient algorithm for successive pose clustering based on the GTV matching. The pose space (6 DOF) is decomposed into 3d rotation space and 3d translation space. Successive algorithms are constructed to perform pose clustering in the two spaces without using any Hough-like voting or any peak detection.
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تاریخ انتشار 1998