Affine invariant model-based object recognition
Lamdan, Y.; Schwartz, J.T.; Wolfson, H.J.
Robotics and Automation, IEEE Transactions on
Volume 6, Issue 5, Oct 1990 Page(s):578 - 589
Digital Object Identifier   10.1109/70.62047
Summary:New techniques are described for model-based recognition of the objects in 3-D space. The recognition is performed from single gray-scale images taken from unknown viewpoints. The objects in the scene may be overlapping and partially occluded. An efficient matching algorithm, which assumes affine approximation to the prospective viewing transformation, is proposed. The algorithm has an offline model preprocessing (shape representation) phase which is independent of the scene information and a recognition phase based on efficient indexing. It has a straightforward parallel implementation. The algorithm was successfully tested in recognition of industrial objects appearing in composite occluded scenes

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