3D object recognition using qualitative features

We present a vision system that can be to recognize 3D objects. Surfaces are characterized by surface curvature. Qualitative features are shown to be effective in pruning the search space of possible scene interpretations explored by the recognition and localization technique. Within this paradigm, we implemented a system which extracts planar patches, and patches of quadrics of revolution from a depth map. Reconstructed features are indexed into a model database to verify object hypotheses using the Hough technique. Our approach is surface based and is not sensitive to noise or occlusion.<
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