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Proceedings Paper

Object recognition using an efficient technique for aligning quadric surfaces
Author(s): Nicolas Alvertos; Ivan D'Cunha
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Paper Abstract

Pose and orientation of an object are central issues in 3-D recognition problems. Most of today's available techniques require considerable pre-processing, such as detecting edges or joints, fitting curves or surfaces to segment images, and trying to extract higher order features from the input images. In this paper we present a method based on analytical geometry, whereby all the rotation parameters of any quadric surface are determined and subsequently eliminated. This procedure is iterative in nature and has been found to converge to the desired results in as few as three iterations. The approach enables us to position the quadric surface in a desired coordinate system, then, utilize the presented shape information to explicitly represent and recognize the 3-D surface. Experiments were conducted with simulated data for objects such as hyperboloid of one and two sheets, elliptic and hyperbolic paraboloid, elliptic and hyperbolic cylinders, ellipsoids, and quadric cones. Real data of quadric cones and cylinders were also utilized. Both of these sets yielded excellent results.

Paper Details

Date Published: 1 November 1992
PDF: 13 pages
Proc. SPIE 1825, Intelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision, (1 November 1992); doi: 10.1117/12.131536
Show Author Affiliations
Nicolas Alvertos, Univ. of Crete (Greece)
Ivan D'Cunha, Old Dominion Univ. (United States)

Published in SPIE Proceedings Vol. 1825:
Intelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision
David P. Casasent, Editor(s)

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