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1 February 1992 Model-based point matching
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In this paper, we describe an algorithm for estimating the camera position and orientation (pose) from which a rigid, 3D solid model is viewed. The algorithm consists of two stages. In the hypothesis stage, using a bounded error criterion, maximal sets of corresponding model and image points are found that are consistent with a camera pose. In the verification stage, the local noise statistics and the probability that a visible model point may not be detected are used in pooling responses from individual image regions to decide whether or not to accept the match.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Kenneth B. Thornton and Robert M. Haralick "Model-based point matching", Proc. SPIE 1609, Model-Based Vision Development and Tools, (1 February 1992);

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