Recognizing polyhedral objects from a single perspective view

摘要

This paper considers the problem of recognizing 3D polyhedral objects from a single perspective image. A hypothesis-verification paradigm based on a local shape representation is presented. The proposed system is designed to recognize polyhedral objects containing at least one completely visible spatial edge bounded by two vertices of the same object. In the framework, 2D vertices interpreted as the projection of a trihedral vertex which is a 3D spatial vertex with three lines emanating from the tip are employed as seed features for model invocation and hypothesis generation. To simplify the perspective analysis, Kanatani1 has proposed an intuitive and elegant technique. Using the technique, we derive a fourth-degree polynomial for interpreting a trihedral vertex. The contribution of our solution is that there are no restrictions on angles between the vertex edges. To reduce the number of hypotheses generated from scene-model vertex assignments, and recover the complete object pose, we propose a composite feature, namely vertex-CS feature by combining a trihedral vertex and a V-junction which share a common edge. The geometric constraint of this composite feature is derived. A matching strategy used in the recognition system is discussed. The feasibility of the proposed method is illustrated on real data.