A Bayesian Approach to Model Matching with Geometric Hashing

摘要

Geometric hashing methods provide an efficient approach to indexing from image features into a database of models. The hash functions that have typically been used involve quantization of the values, which can result in nongraceful degradation of the performance of the system in the presence of noise. Intuitively, it is desirable to replace the quantization of hash values and the resulting binning of hash entries by a method that gives increasingly less weight to a hash table entry as a hashed feature becomes more distant from the hash entry position. In this paper, we show how these intuitive notions can be translated into a well-founded Bayesian approach to object recognition and give precise formulas for the optimal weight functions that should be used in hash space. These extensions allow the geometric hashing method to be viewed as a Bayesian maximum-likelihood framework. We demonstrate the validity of the approach by performing similarity-invariant object recognition using models obtained from drawings of military aircraft and automobiles and test images from real-world grayscale images of the same aircraft and automobile types. Our experimental results represent a complete object recognition system, since the feature extraction process is automated. Our system is scalable and works rapidly and very efficiently on an 8K-processor CM - 2, and the quality of results using similarity-invariant model matching is excellent.