In this work, we analyze three different registration algorithms: Chamfer distance matching, the well-known iterated closest points (ICP) and an optic flow based registration. Their pairwise combination is investigated in the context of silhouette based pose estimation. It turns out that Chamfer matching and ICP used in combination do not only perform fairly well with small offset, but also dea...

Chamfer distances play an important role in the theory of distance transforms. Though the determination of the exact Euclidean distance transform is also a well investigated area, the classical chamfering method based upon ”small” neighborhoods still outperforms it e.g. in terms of computation time. In this paper we determine the best possible maximum relative error of chamfer distances under v...

Within image analysis the distance transform has many applications. The distance transform measures the distance of each object point from the nearest boundary. For ease of computation, a commonly used approximate algorithm is the chamfer distance transform. This paper presents an efficient linear-time algorithm for calculating the true Euclidean distance-squared of each point from the nearest ...

Chamfer distances play an important role in the theory of distance transforms. Though the determination of the exact Euclidean distance transform is also a well investigated area, the classical chamfering method based upon ”small” neighborhoods still outperforms it e.g. in terms of computation time. In this paper we determine the best possible maximum relative error of chamfer distances under v...

Determining the location and orientation of vehicles in satellite and airborne imagery is a challenging task given the density of cars and other vehicles as well as the complexity of the environment in urban regions around the world. We describe an accurate and flexible method for detecting vehicles using a template-based directional chamfer matching approach, and vehicle orientation estimation...

This paper is concerned with achieving a higher rate at which a robot operation involving part mating can be carried out while free of excessive contact forces. It is shown that the rate is primarily limited by the robot end effector's lateral transient response to the contact forces, while the response depends mainly on the link inertia characteristics and joint compliances. Both factors were ...

This paper presents the generalization of weighted distances to modules and their computation through the chamfer algorithm on general point-lattices. A first part is devoted to the definitions and properties (distance, metric, norm) of weighted distances on modules, with a presentation of weight optimization in the general case, to get rotation invariant distances. A general formula for the we...

Pedestrian detection in real world scenes is a challenging problem. In recent years a variety of approaches have been proposed, and impressive results have been reported on a variety of databases. This paper systematically evaluates (1) various local shape descriptors, namely Shape Context and Local Chamfer descriptor and (2) four different interest point detectors for the detection of pedestri...

Tracking the pose of a moving hand from a monocular perspective is a difficult problem. In the current study the tracking problem is recast as efficient database indexing. Recognition is hastened by approximating chamfer distances between hand poses which have been embedded into a common vector space. Using this embedding, a small number of candidate matches for each query can be quickly identi...