Efficient recognition of 3D rigid solid objects from 2D projective images based on projective invariant descriptions
Theo Gevers, Arnold W. M. Smeulders · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1994
This paper proposes an efficient method to recognize 3-D rigid, solid objects from 2-D projective images in the presence of object overlapping and occlusion which is robust to noise, location accuracy, and able to deal with multiple instances of a model in a scene. The task of the recognition method is to find instances of known object models in projective images. Projective invariants shape descriptors of 3-D solid objects are generated which are invariant to a change in the point of view. To obtain these projective invariants, the classical projective geometry has been taken as a starting point. It is classically known that the cross ratio is projectively invariant. The invariants describing the model are used as `keys' to index the model into a hash table. Because these keys remain the same under the projective transformation they are computed for objects found in an image and used to determine which object model is present in an image. Experiments show excellent performance and together with the inherent parallelism of the recognition method makes the method a promising one.