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, 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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