A detection method of intersections for determining overlapping using active vision

摘要

Sometimes, the presence of objects difficult the observation of other neighboring objects. This is becausepart of the surface of an object occludes partially the surface of another, increasing the complexitiy in therecognition process. Therefore, the information which is acquired from scene to describe the objects is oftenincomplete and depends a great deal on the view point of the observation. Thus, when any real scene isobserved, the regions and the boundaries which delimit and dissociate objects from others are not perceivedeasily. In this paper, a method to discern objects from others, delimiting where the surface of each objectbegins and finishes is presented. Really, here, we look for detecting the overlapping and occlusion zones oftwo or more objects which interact among each other in a same scene. This is very useful, on the one hand,to distinguish some objects from others when the features like texture colour and geometric form are notsufficient to separate them with a segmentation process. On the other hand, it is also important to identifyoccluded zones without a previous knowledge of the type of objects which are wished to recognize. Theproposed approach is based on the detection of occluded zones by means of structured light patternsprojected on the object surfaces in a scene. These light patterns determine certain discontinuities of thebeam projections when they hit against the surfaces becoming deformed themselves. So that, suchdiscontinuities are taken like zones of boundary of occlusion candidate regions.