Paerformance of free-form 3D object recognition from range images

Heinz Huegli; Christian L. Schutz

doi:10.1117/12.256318

29 October 1996 Paerformance of free-form 3D object recognition from range images

Heinz Huegli, Christian L. Schutz

Proceedings Volume 2904, Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling; (1996) https://doi.org/10.1117/12.256318
Event: Photonics East '96, 1996, Boston, MA, United States

Abstract

This paper investigates the recognition performance of a geometric matching approach to the recognition of free-form objects obtained from range images. The heart of this approach is a closest point matching algorithm which, starting from an initial configuration of two rigid objects, iteratively finds their best correspondence. While the effective performance of this algorithm is known to depend largely on the chosen set of initial configurations, this paper investigates the quantitative nature of this dependence. In essence, we experimentally measure the range of successful configurations for a set of test objects and derive quantitative rules for the recognition strategy. These results show the conditions under which the closest point matching algorithm can be successfully applied to free-form 3D object recognition and help to design a reliable and cost-effective recognition system.

Citation Download Citation

Heinz Huegli and Christian L. Schutz "Paerformance of free-form 3D object recognition from range images", Proc. SPIE 2904, Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling, (29 October 1996); https://doi.org/10.1117/12.256318

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