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Proceedings Paper

Establishing identity and pose of objects from a library using reciprocal basis set and direction of arrival techniques
Author(s): Charles R. Wright; Richard F. Vaz; David Cyganski
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Paper Abstract

In many object recognition problems, the object to be identified is one of a fixed set (library) of objects. The problem of identifying which object is present then shares characteristics of the signal detection and parameter estimation problem: which signal is present and what are its parameters? The Reciprocal Basis Set/Direction of Arrival (RBS/DOA) technique is a recently developed technique for object pose determination. It uses a single, comprehensive analytic object model representing a suite of views of an object. Object orientation can be directly established from single 2-D views of the object, without a costly search of the pose parameter space, and without need for the views to be related by a geometric image transformation. This paper describes how one can construct reciprocal basis sets to simultaneously determine object identity and pose from a single 2-D image. Results are presented which demonstrate this ability for a single unknown pose parameter using synthetic and camera-acquired images.

Paper Details

Date Published: 20 August 1993
PDF: 10 pages
Proc. SPIE 2055, Intelligent Robots and Computer Vision XII: Algorithms and Techniques, (20 August 1993); doi: 10.1117/12.150133
Show Author Affiliations
Charles R. Wright, Worcester Polytechnic Institute (United States)
Richard F. Vaz, Worcester Polytechnic Institute (United States)
David Cyganski, Worcester Polytechnic Institute (United States)

Published in SPIE Proceedings Vol. 2055:
Intelligent Robots and Computer Vision XII: Algorithms and Techniques
David P. Casasent, Editor(s)

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