Three-dimensional object recognition from single two-dimensional images
Artificial Intelligence
Model-based object pose in 25 lines of code
International Journal of Computer Vision - Special issue: image understanding research at the University of Maryland
Planar object recognition using projective shape representation
International Journal of Computer Vision
A perceptual grouping hierarchy for appearance-based 3D object recognition
Computer Vision and Image Understanding - Special issue on perceptual organization in computer vision
Shape Matching and Object Recognition Using Shape Contexts
Shape Matching and Object Recognition Using Shape Contexts
Scale & Affine Invariant Interest Point Detectors
International Journal of Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Combining Edge and Texture Information for Real-Time Accurate 3D Camera Tracking
ISMAR '04 Proceedings of the 3rd IEEE/ACM International Symposium on Mixed and Augmented Reality
A Sparse Texture Representation Using Local Affine Regions
IEEE Transactions on Pattern Analysis and Machine Intelligence
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This article introduces an innovative visual registration pro-cess suitable for textureless objects. Because our framework is industrial, the process is designed for metallic, complex free-form objects containing multiple bores. This technique is based on a new contour descriptor, invariant under affine transformation, which characterizes the neighborhood of a closed contour. The affine invariance is exploited in the learning stage to produce a lightweight model : for an automobile cylinder head, a learning view-sphere with twelve viewpoints is sufficient. Moreover, during the learning stage, this descriptor is combined to a 2D/3D pattern, concept likewise presented in this article. Once associated, the 2D/3D information wealth of this descriptor allows a pose estimation from a single match. This ability is exploited in the registration process to drastically reduce the complexity of the algorithm and increase efficiently its robustness to the difficult problem of repetitive patterns. Evaluations on a cylinder head, a car door and a binding beam confirm both the robustness and the precision (about 3 pixel of mean reprojection error on the full model reprojection area) of the process.