3-D Object Recognition using a Projective Invariant Relationship by Single-View
Gyeong-Sik No · Jeongbo gwahaghoe nonmunji. so'peuteuweeo mich eung'yong · 1999
We propose a new method for recognizing three-dimensional objects using a three dimensional invariant relationship and geometric hashing by single-view. We develop a special structure consisting of four co-planar points and any two non-coplanar points with respect to the plane. We derive an invariant relationship for the structure, which is represented by a plane equation. For recognition of 3-D objects using geometric hashing, a set of points on the plane is mapped into a set of points intersecting the plane and the unit sphere, thereby satisfying the invariant relationship. Because the structure is much more general than those previously structures proposed by Rothwell et al.［1］and Zhu et al. ［2,3］, it gives a number of votings enough to generate hypotheses. We also show that from the proposed invariant relationship, an invariant for a structure proposed by Zhu et al. ［2,3］can also be derived. Experiments using 3-D polyhedral objects are carried out to demonstrate the feasibility of our method for 3-D object recognition.