Automatic construction of a relational model for recognition of a 3-D object

Shujun Zhang; Geoffrey D. Sullivan; K. D. Baker

doi:10.1117/12.57129

1 February 1992 Automatic construction of a relational model for recognition of a 3-D object

Shujun Zhang, Geoffrey D. Sullivan, K. D. Baker

Proceedings Volume 1609, Model-Based Vision Development and Tools; (1992) https://doi.org/10.1117/12.57129
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

This paper presents a view-independent relational model (VIRM) for use in a vision system designed for recognizing known 3D objects from single monochromatic images within unknown environments. The aim if to establish a model of an object suitable for its recognition automatically without invoking pose information. To generate the VIRM, the system projects a wireframe model of the object from a number of different viewpoints, and performs a statistical inference to select relatively view-independent relationships among component parts of the object. These relations are stored as a relational model of the object represented as a hypergraph associated with procedural constraints. Three-dimensional component parts (model features) of the object, which can be associated with extended image features defined by simple 2D geometrical attributes, are used as nodes of the hypergraph. Co- visibility of model features is represented by arcs of the hypergraph. Other pairwise view- independent relations are used as procedural constraints associated with arcs of the hypergraph.

Citation Download Citation

Shujun Zhang, Geoffrey D. Sullivan, and K. D. Baker "Automatic construction of a relational model for recognition of a 3-D object", Proc. SPIE 1609, Model-Based Vision Development and Tools, (1 February 1992); https://doi.org/10.1117/12.57129

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KEYWORDS

Visual process modeling

3D modeling

Solid modeling

Model-based design

3D image processing

Cameras

Computer aided design

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