A Procedural Approach To View Independent Three Dimensional Object Recognition And Pose Determination

Paul F. Hemler; Wesley E. Snyder

doi:10.1117/12.960329

27 March 1989 A Procedural Approach To View Independent Three Dimensional Object Recognition And Pose Determination

Paul F. Hemler, Wesley E. Snyder

Proceedings Volume 1002, Intelligent Robots and Computer Vision VII; (1989) https://doi.org/10.1117/12.960329
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

This paper presents a new approach to view independent object recognition where both the image and the model are represented conceptually as a graph structure. The model graph is implemented as a procedure, and is therefore referred to as a Procedural Model. Binary relations between nodes in the object graph are implemented implicitly by the calling relations between procedures. A collection of such procedures and the calling relations between them provides a full depth-first search of the tree of possible model node to image node bindings. A complete image analysis system was developed and used to demonstrate the functionality and usefulness of the Procedural Model approach to new independent object recognition. Although arbitrarily complex search trees can be implemented in this fashion, the syntax of the individual model procedures is shown to be so similar, for objects composed of analytic surfaces, that such models can be built automatically. An interactive program has been written which can be used to construct a Procedural Model by prompting only for object-specific information.

Citation Download Citation

Paul F. Hemler and Wesley E. Snyder "A Procedural Approach To View Independent Three Dimensional Object Recognition And Pose Determination", Proc. SPIE 1002, Intelligent Robots and Computer Vision VII, (27 March 1989); https://doi.org/10.1117/12.960329

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