3DPO: A three-dimensional part orientation system
International Journal of Robotics Research
Three-dimensional object recognition from single two-dimensional images
Artificial Intelligence
New methods for matching 3-D objects with single perspective views
IEEE Transactions on Pattern Analysis and Machine Intelligence
Determination of the Attitude of 3D Objects from a Single Perspective View
IEEE Transactions on Pattern Analysis and Machine Intelligence
The fifth international symposium on Robotics research
Probabilistic Search for Object Segmentation and Recognition
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part III
Active vision in robotic systems: A survey of recent developments
International Journal of Robotics Research
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
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A robot vision system that automatically generates an object recognition strategy from a 3D model and recognizes the object using this strategy is presented. The appearance of an object from various viewpoints is described in terms of visible 2D features such as parallel lines and ellipses. Features are then ranked according to the number of viewpoints from which they are visible. The rank and feature extraction cost of each feature are used to generate a treelike strategy graph. This graph gives an efficient feature search order when the viewpoint is unknown, starting with commonly occurring features and ending with features specific to a certain viewpoint. The system searches for features in the order indicated by the graph. After detection, the system compares a lines representation generated from the 3D model with the image features to localize the object. Perspective projection is used in the localization process to obtain the precise position and attitude of the object, whereas orthographic projection is used in the strategy generation process to allow symbolic manipulation. Experimental results are given.