1 March 1992 Three-dimensional perception and recognition under uncertainty
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Abstract
This paper presents an efficient system for recovering the structural properties of objects with unknown 3-D shape. In this approach, we build adaptive maps for interpreting the object structure under uncertainty. We decompose the system into four major modules: sensing interface, knowledge base, map building and decision making, and the controller. The sensing interface acquires visual data and performs low and intermediate vision tasks for enhancing the acquired image sequences. The knowledge base contains different visual primitives and the possible exploratory actions. The map building and decision making module utilizes the different predicates that are stored in the knowledge base in order to resolve possible uncertainties. The decisions made in the map building and decision making module are then utilized by the controller module which resolves possible uncertainties. The decisions made in the map building and decision making modules are then utilized by the controller module which resolves possible inconsistencies. The above process is repeated until the map stored in the third module contains a minimal number of three dimensional interpretations that cannot be reduced further. Motion primitives are used as sensing actions. Uncertainty models are developed for the sensor and for the image processing techniques being used. Further filtering and a rejection mechanism are then developed to discard unrealistic motion and structure estimates. This system is capable of recognizing the object structure efficiently and adaptively.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Tarek M. Sobh, Tarek M. Sobh, Tarek Khaled Alameldin, Tarek Khaled Alameldin, } "Three-dimensional perception and recognition under uncertainty", Proc. SPIE 1615, Machine Vision Architectures, Integration, and Applications, (1 March 1992); doi: 10.1117/12.58818; https://doi.org/10.1117/12.58818
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