From an image sequence to a recognized polyhedral object

摘要

The paper describes the combination of several novel algorithms into a system that obtains visual motion from a sequence of images and uses it to recover the three-dimensional (3D) geometry and 3D motion of polyhedral objects relative to the sensor. The system goes on to use the recovered geometry to recognize the object from a database, a stage which also resolves the depth/speed scaling ambiguity, resulting in absolute depth and motion recovery. The performance of the system is demonstrated on imagery from a well carpentered constructive solid geometry (CSG) model and on real imagery from a simple wooden model.