23 May 1983 Computer Software For Robotic Vision
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The matching of synthetically generated images of known solid objects with "real world" scenes is of fundamental importance in advanced robot vision systems. An efficient "hierarchical convolution" algorithm is presented. A scene contained in a quadtree is convolved with a matched filter quadtree derived from a synthetic image. During algorithm operation, a series of filtered images is generated at increasingly finer resolution. This allows for strategies based on coarse-to-fine matching. The algorithm is derived for both binary and gray scale images. In the gray scale case, the new algorithm is shown to require one-third fewer multiplications than conventional cross correlation.
© (1983) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Donald J. Meagher, "Computer Software For Robotic Vision", Proc. SPIE 0360, Robotics and Industrial Inspection, (23 May 1983); doi: 10.1117/12.934117; https://doi.org/10.1117/12.934117


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