Three-dimensional object recognition
ACM Computing Surveys (CSUR) - Annals of discrete mathematics, 24
Model-based recognition in robot vision
ACM Computing Surveys (CSUR)
Recovery of Parametric Models from Range Images: The Case for Superquadrics with Global Deformations
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Object recognition by computer: the role of geometric constraints
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A Method for Registration of 3-D Shapes
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ACM Computing Surveys (CSUR)
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An Experimental Comparison of Range Image Segmentation Algorithms
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Segmentation and recovery of superquadrics: computational imaging and vision
Segmentation and recovery of superquadrics: computational imaging and vision
A survey of free-form object representation and recognition techniques
Computer Vision and Image Understanding
Mean Shift: A Robust Approach Toward Feature Space Analysis
IEEE Transactions on Pattern Analysis and Machine Intelligence
ACM Transactions on Graphics (TOG)
Mean Shift, Mode Seeking, and Clustering
IEEE Transactions on Pattern Analysis and Machine Intelligence
Contextual Priming for Object Detection
International Journal of Computer Vision
Yet Another Survey on Image Segmentation: Region and Boundary Information Integration
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part III
Extracting Cylinders in Full 3D Data Using a Random Sampling Method and the Gaussian Image
VMV '01 Proceedings of the Vision Modeling and Visualization Conference 2001
Configuration based scene classification and image indexing
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Efficient Multiple Model Recognition in Cluttered 3-D Scenes
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Scene Classification from Dense Disparity Maps in Indoor Environments
ICPR '02 Proceedings of the 16 th International Conference on Pattern Recognition (ICPR'02) Volume 3 - Volume 3
A Computationally Efficient Approach to Indoor/Outdoor Scene Classification
ICPR '02 Proceedings of the 16 th International Conference on Pattern Recognition (ICPR'02) Volume 4 - Volume 4
Rotation invariant spherical harmonic representation of 3D shape descriptors
Proceedings of the 2003 Eurographics/ACM SIGGRAPH symposium on Geometry processing
Collision Detection
Context-based vision system for place and object recognition
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Robust Regression with Projection Based M-estimators
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
A Two Level Approach for Scene Recognition
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Learning Hierarchical Models of Scenes, Objects, and Parts
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision - Volume 2
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision - Volume 2
International Journal of Computer Vision
Feature-based similarity search in 3D object databases
ACM Computing Surveys (CSUR)
Three-Dimensional Model-Based Object Recognition and Segmentation in Cluttered Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Planning Algorithms
3D free-form object recognition in range images using local surface patches
Pattern Recognition Letters
Robotic Grasping of Novel Objects using Vision
International Journal of Robotics Research
A survey of content based 3D shape retrieval methods
Multimedia Tools and Applications
Putting Objects in Perspective
International Journal of Computer Vision
Learning grasp strategies with partial shape information
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 3
A RANSAC-based approach to model fitting and its application to finding cylinders in range data
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
Three-dimensional shape searching: state-of-the-art review and future trends
Computer-Aided Design
A Generalized Kernel Consensus-Based Robust Estimator
IEEE Transactions on Pattern Analysis and Machine Intelligence
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Data-driven grasping with partial sensor data
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Parts-based 3D object classification
CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
Point fingerprint: a new 3-D object representation scheme
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Semantic world modeling using probabilistic multiple hypothesis anchoring
Robotics and Autonomous Systems
Learning of perceptual grouping for object segmentation on RGB-D data
Journal of Visual Communication and Image Representation
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We present a new paradigm for constructing a 3D model of a scene from images. Our approach makes strong use of a prior 3D model of the scene. Changes from scene to scene are regarded as a Markov dynamical system, which is described by a probabilistic transition model. From the prior 3D scene model, the model of scene change dynamics, and a newly acquired image, we compute the new 3D scene model which is most consistent with the observed image and the changes from the prior model. The use of a prior 3D scene model allows the method to deal with complex scenes, maintain hidden state, respect object persistence, perform object segmentation, and provides computational efficiencies. In this paper we formalize a mathematical framework for physically consistent 3D scene models, and changes to scene models that preserve physical consistency. From this framework, we first derive a generic scene model optimization algorithm for the general 3D scene interpretation problem, and we then present a polynomial time approximation for this algorithm. We detail the implementation of the algorithm for range images computed by stereo imaging, and present extensive experimental results on sequences of scenes containing dozens of objects and multiple changes from scene to scene.