Real-time Object Recognition in Sparse Range Images Using Error Surface Embedding

摘要

A novel object recognition algorithm is introduced to identify objects and recover their pose from sparse range data. The method is based upon comparing the 7-D error surfaces of objects in various poses, which result from the registration error function between two convolved surfaces. The objects and their pose values are encoded by a small set of feature vectors extracted from the minima of the error surfaces. The problem of object recognition is thus reduced to comparing these feature vectors to find the corresponding error surfaces between the runtime data and a preprocessed database.