Description and recognition of curved objects

摘要

Analysis of scenes of three-dimensional objects has, in the past, been largely limited to the world of polyhedra. Techniques for generating structured, symbolic descriptions of complex curved objects by segmenting them into simpler sub-parts are presented here. The complexity of objects used is that of toy animals and hand tools. Recognition is performed by matching these descriptions with stored descriptions of models. A laser ranging techniques is used to acquire three-dimensional position of points on the visible surfaces. Successful segmentation and recognition results have been obtained for scenes with multiple, occluding objects in various orientations and with a variety of articulations of sub-parts.