Model-based image matching using location
Model-based image matching using location
3DPO: A three-dimensional part orientation system
International Journal of Robotics Research
The representation, recognition, and locating of 3-d objects
International Journal of Robotics Research
Least-Squares Fitting of Two 3-D Point Sets
IEEE Transactions on Pattern Analysis and Machine Intelligence
Maximal matching of 3-D points for multiple-object motion estimation
Pattern Recognition
Motion and Structure from Orthographic Projections
IEEE Transactions on Pattern Analysis and Machine Intelligence
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The specific problem addressed by the authors is how to detect the true match of a fourth point from among candidate matches in a situation in which three points have already been matched. The two sets of points to be matched are both subject to measurement errors. The depth error is more dominant than errors in the other two coordinates; however, the exact statistical distribution of the measurement errors is not known. The authors present a new method for solving the problem. The method is based on the technique of motion analysis using orthographic views. It discards the noisy z (depth) coordinates and uses only the x and y coordinates of the points to verify the match. The effect of depth errors on the motion estimate is completely prevented. Results show that this method is substantially more effective than previous methods that use all three coordinates.