3D object recognition from color intensity images

We describe a color-based identification system for 3D objects. Given a set of models with known attributes, and a scene containing one or more of these objects, the system identifies which objects are apparent in the scene. An important aspect of the system is that it integrates the use of curvature and spectral (color) attributes. Furthermore, the system employs sets of intensify images obtained through an inexpensive acquisition setup consisting of a single CCD camera and a set of three color filters. Surface signatures extracted from the scene, through color photometric stereo, are the main features employed for matching and identification. The system has been tested with excellent results on 95 observed-surfaces and 77 objects, appearing in 7 synthetic scenes and 14 real scenes.