Establishing identity and pose of objects from a library using reciprocal basis set and direction of arrival techniques

Charles R. Wright; Richard F. Vaz; David Cyganski

doi:10.1117/12.150133

20 August 1993 Establishing identity and pose of objects from a library using reciprocal basis set and direction of arrival techniques

Charles R. Wright, Richard F. Vaz, David Cyganski

Author Affiliations +

Proceedings Volume 2055, Intelligent Robots and Computer Vision XII: Algorithms and Techniques; (1993) https://doi.org/10.1117/12.150133
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

In many object recognition problems, the object to be identified is one of a fixed set (library) of objects. The problem of identifying which object is present then shares characteristics of the signal detection and parameter estimation problem: which signal is present and what are its parameters? The Reciprocal Basis Set/Direction of Arrival (RBS/DOA) technique is a recently developed technique for object pose determination. It uses a single, comprehensive analytic object model representing a suite of views of an object. Object orientation can be directly established from single 2-D views of the object, without a costly search of the pose parameter space, and without need for the views to be related by a geometric image transformation. This paper describes how one can construct reciprocal basis sets to simultaneously determine object identity and pose from a single 2-D image. Results are presented which demonstrate this ability for a single unknown pose parameter using synthetic and camera-acquired images.

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Charles R. Wright, Richard F. Vaz, and David Cyganski "Establishing identity and pose of objects from a library using reciprocal basis set and direction of arrival techniques", Proc. SPIE 2055, Intelligent Robots and Computer Vision XII: Algorithms and Techniques, (20 August 1993); https://doi.org/10.1117/12.150133

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