SDFS: A new strategy for the recognition of object using range data

Our goal is to develop a vision system using range image for the industrial application. In the system, simple basic surface primitives are considered and are extracted from the range image. From the robust geometric features contained in the primitives, rotation-invariant characteristics are then extracted to form smallest distinctive feature sets (SDFS). The set of SDFSs and the relationships between elements in SDFS and the kernel are stored to form the object model. The recognition process involves first extracting a set of SDFSs from the image and matching the extracted SDFSs with the stored SDFSs. If the kernels determined for SDFSs matched are consistent, object can be detected and its location and orientation in the viewer-centered coordinate system (VCC) can be determined.