Abstract
This paper presents a contour matching technique using the Kalman filter for the identification of an object model corresponding to an observed object from a list of object models from range data. There are three types of edge data associated with the object and the models. These data are utilized in a hierarchical fashion each time employing one type of edge data for pruning the models while matching. The matching uses quaternions to represent rotation in 3D space and is more suitable for the recognition of objects symmetric about an axis of rotation. The results are illustrated through simulated examples.
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Besl, P.J. and Jain, J.C., Three Dimensional Object Recognition, ACM Computing Surveys Vol.17, 1975, pp.75–145.
Bolles, R.C., Horaud, P.D. and Hannah, M.J., 3DPO: A Three Dimensional Part Orientation System, Proceedings of 8th IJCAI, 1983, pp. 116–120.
Chin, R.T. and Dyer, C.R., Model Based Recognition in Robot Vision, ACM Computing Surveys, Vol. 18, 1986, pp.67–108.
Chou, J.C.K. and Kamel, M., Quaternions Approach to Solve the Kinetic equation of rotation, Aa Ax = Ax Ab of Robotic manipulator, Proceedings of IEEE Int. Conf. Robotics and Automation, 1988, pp.656–662.
Faugeras, O.D. and Hebert, M., The Representation, Recognition and Locating of 3-D Objects, Int. J. Robotics Research, Vol.3, 1986, pp. 27–52.
Fisher, R.B., From Surfaces to Objects: Computer Vision and Three Dimensional Analysis, John Wiley & Sons Ltd. 1989.
Grimson, W.E.L, and Lozano-Perez, T., Model Based Recognition and Localization from Sparse Range Data or Tactile Data, Int. J. Robotics Research, Vol.3, 1984, pp.3–35.
Hanmandlu, M., Rangaiah, C., and Biswas, K.K., Quadrics Based Matching Technique for 3D Object Recognition, Image and Vision Computing, Vol. 10, 1992, pp.578–588.
Lin, C.S. and Jungthirapanich, C., Invariants of three dimensional contours, Pattern Recognition, Vol.23, 1990, pp.833–842.
Schwartz, J. and Sharir, M., Identification of Partially Observed Objects in Two and Three Dimensions by Matching Noisy Characteristic Curves, The Int. J. Robotics Research, Vol. 6, 1986, pp. 29–43.
Zhang, Z. and Faugeras, O.D., Determining Motion from 3D Line Segments: A Comparative Study, Image and Vision Computing, Vol. 9, 1991, pp. 10–19. *** DIRECT SUPPORT *** A0008188 00016
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1997 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Hanmandlu, M., Shantaram, V. (1997). Contour matching technique for 3D object recognition using Kalman filter. In: Chin, R., Pong, TC. (eds) Computer Vision — ACCV'98. ACCV 1998. Lecture Notes in Computer Science, vol 1351. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-63930-6_154
Download citation
DOI: https://doi.org/10.1007/3-540-63930-6_154
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-63930-5
Online ISBN: 978-3-540-69669-8
eBook Packages: Springer Book Archive