Abstract: This paper describes an approach to the recognition of objects of known shapes by matching, in the Hough space, the features (edges and normal vectors) extracted from range images to object models. The matching is carried out in hierarchy. First, a few candidate rotation matrices are determined based on the peaks in the Hough accumulator that represents the orientation of a reference vector. Then the translation parameters are evaluated for each rotation matrix, and the transformation is obtained based on the best interpretation between the model and the scene. The experiments indicate that the procedure is accurate, although optimization can further improve the estimates of the parameters.!15
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