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Proceedings Paper

Paerformance of free-form 3D object recognition from range images
Author(s): Heinz Huegli; Christian L. Schutz
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Paper 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.

Paper Details

Date Published: 29 October 1996
PDF: 9 pages
Proc. SPIE 2904, Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling, (29 October 1996); doi: 10.1117/12.256318
Show Author Affiliations
Heinz Huegli, Univ. of Neuchatel (Switzerland)
Christian L. Schutz, Univ. of Neuchatel (Switzerland)


Published in SPIE Proceedings Vol. 2904:
Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling
David P. Casasent, Editor(s)

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