3-D object recognition using projective invariant relationship by single-view

We propose a new method for recognizing three-dimensional objects using a three-dimensional invariant relationship for a special structure and geometric hashing by single-view. We use a special structure consisting of four co-planar points and any two non-coplanar points with respect to the plane. We derive an invariant relationship for the structure, which is represented by a plane equation. For recognition of 3-D objects using geometric hashing, a set of points on the plane is mapped into a set of points intersecting the plane and the unit sphere, thereby satisfying the invariant relationship. Experiments using 3-D polyhedral objects are carried out to demonstrate the feasibility of our method for 3-D object recognition.