3D free-form surface registration and object recognition

Abstract

A new technique to recognise 3D free-form objects via registration is proposed. This technique attempts to register a free-form surface, represented by a set of % MathType!MTEF!2!1!+-% feaafeart1ev1aaatCvAUfeBSjuyZL2yd9gzLbvyNv2CaerbuLwBLn% hiov2DGi1BTfMBaeXatLxBI9gBaerbd9wDYLwzYbItLDharqqtubsr% 4rNCHbGeaGqiVu0Je9sqqrpepC0xbbL8F4rqqrFfpeea0xe9Lq-Jc9% vqaqpepm0xbba9pwe9Q8fs0-yqaqpepae9pg0FirpepeKkFr0xfr-x% fr-xb9adbaqaaeGaciGaaiaabeqaamaabaabaaGcbaGaaGOmamaala% aabaGaaGymaaqaaiaaikdaaaGaamiraaaa!38F8!\[2\frac{1}{2}D\] sensed data points, to the model surface, represented by another set of % MathType!MTEF!2!1!+-% feaafeart1ev1aaatCvAUfeBSjuyZL2yd9gzLbvyNv2CaerbuLwBLn% hiov2DGi1BTfMBaeXatLxBI9gBaerbd9wDYLwzYbItLDharqqtubsr% 4rNCHbGeaGqiVu0Je9sqqrpepC0xbbL8F4rqqrFfpeea0xe9Lq-Jc9% vqaqpepm0xbba9pwe9Q8fs0-yqaqpepae9pg0FirpepeKkFr0xfr-x% fr-xb9adbaqaaeGaciGaaiaabeqaamaabaabaaGcbaGaaGOmamaala% aabaGaaGymaaqaaiaaikdaaaGaamiraaaa!38F8!\[2\frac{1}{2}D\] model data points, without prior knowledge of correspondence or view points between the two point sets. With an initial assumption that the sensed surface be part of a more complete model surface, the algorithm begins by selecting three dispersed, reliable points on the sensed surface. To find the three corresponding model points, the method uses the principal curvatures and the Darboux frames to restrict the search over the model space. Invariably, many possible model 3-typles will be found. For each hypothesized model 3-tuple, the transformation to match the sensed 3-tuple to the model 3-tuple can be determined. A heuristic search is proposed to single out the optimal transformation in low order time. For realistic object recognition or registration, where the two range images are often extracted from different view points of the model, the earlier assumption that the sensed surface be part of a more complete model surface cannot be relied on. With this, the sensed 3-tuple must be chosen such that the three sensed points lie on the common region visible to both the sensed and model views. We propose an algorithm to select a minimal non-redundant set of 3-tuples such that at least one of the 3-tuples will lie on the overlap. Applying the previous algorithm to each 3-tuple within this set, the optimal transformation can be determined. Experiments using data obtained from a range finder have indicated fast registration for relatively complex test cases. If the optimal registrations between the sensed data (candidate) and each of a set of model data are found, then, for 3D object recognition purposes, the minimal best fit error can be used as the decision rule.