Robust object recognition in 3D scene by stereo vision image processing with the generalized Hough transform

摘要

Object recognition is an automated image processing application of great interest in areas ranging from defectinspection to robot vision. In this regard, the generalized Hough transform (GHT) is a well-established techniquefor the recognition of geometrical features out of binary images even corrupted by noise or when the target ispartially occluded. In order to enhance the performance of the original algorithm in detecting a given geometricalfeature out of a single image, we consider the transformation of an stereo pair of a 3D scene under the GHT,one of the images using the template we are looking for and the other using its corresponding according to theperspective transformation that relates the images of the stereo pair. Validation experiments using partiallyoccluded targets in noisy environments are presented.