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
IEEE Transactions on Pattern Analysis and Machine Intelligence
Localizing Overlapping Parts by Searching the Interpretation Tree
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
The theory and practice of Bayesian image labeling
International Journal of Computer Vision
On recognizing and positioning curved 3D objects from image contours
Proceedings of a workshop on Image understanding workshop
Recognizing solid objects by alignment with an image
International Journal of Computer Vision
Fitting Parameterized Three-Dimensional Models to Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
BONSAI: 3D Object Recognition Using Constrained Search
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part I
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
A Complete and Extendable Approach to Visual Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence
Numerical recipes in C (2nd ed.): the art of scientific computing
Numerical recipes in C (2nd ed.): the art of scientific computing
Statistical object recognition
Statistical object recognition
An Algorithm for Finding Best Matches in Logarithmic Expected Time
ACM Transactions on Mathematical Software (TOMS)
Perceptual Organization and Visual Recognition
Perceptual Organization and Visual Recognition
Affine Matching With Bounded Sensor Error: Study of Geometric Hashing and Alignment
Affine Matching With Bounded Sensor Error: Study of Geometric Hashing and Alignment
Parallel object recognition from structure (the tinkertoy project)
Parallel object recognition from structure (the tinkertoy project)
Indexing without Invariants in 3D Object Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence
Probabilistic 3D Object Recognition
International Journal of Computer Vision
Appearance based object modeling using texture database: acquisition, compression and rendering
EGRW '02 Proceedings of the 13th Eurographics workshop on Rendering
Probabilistic Hypothesis Generation for Rapid 3D Object Recognition
IWVF-4 Proceedings of the 4th International Workshop on Visual Form
Extraction of Local Structural Features in Images by Using a Multi-scale Relevance Function
MLDM '99 Proceedings of the First International Workshop on Machine Learning and Data Mining in Pattern Recognition
SVM '02 Proceedings of the First International Workshop on Pattern Recognition with Support Vector Machines
The Great Buddha Project: Modeling Cultural Heritage for VR Systems through Observation
ISMAR '03 Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality
Uncertainty in Pose Estimation: A Bayesian Approach
ICPR '98 Proceedings of the 14th International Conference on Pattern Recognition-Volume 2 - Volume 2
Adaptively Merging Large-Scale Range Data with Reflectance Properties
IEEE Transactions on Pattern Analysis and Machine Intelligence
Recognizing Articulated Objects Using a Region-Based Invariant Transform
IEEE Transactions on Pattern Analysis and Machine Intelligence
Recognizing Assembly Tasks Through Human Demonstration
International Journal of Robotics Research
The Great Buddha Project: Digitally Archiving, Restoring, and Analyzing Cultural Heritage Objects
International Journal of Computer Vision
A statistical detection of an anomaly from a few noisy tomographic projections
EURASIP Journal on Applied Signal Processing
International Journal of Computer Vision
Computer Vision and Image Understanding
Dependable 3D object recognition with two-layered particle filter
Proceedings of the 5th International Conference on Ubiquitous Information Management and Communication
Active vision in robotic systems: A survey of recent developments
International Journal of Robotics Research
Surface reconstruction from stereo data using three-dimensional markov random field model
ICAPR'05 Proceedings of the Third international conference on Pattern Recognition and Image Analysis - Volume Part II
3D body pose estimation using an adaptive person model for articulated ICP
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
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In an effort to make object recognition efficient and accurate enough for real applications, we have developed three probabilistic techniques驴sensor modeling, probabilistic hypothesis generation, and robust localization驴which form the basis of a promising paradigm for object recognition. Our techniques effectively exploit prior knowledge to reduce the number of hypotheses that must be tested during recognition. Our recognition approach utilizes statistical constraints on the matches between image and model features. These statistical constraints are computed using a model of the entire sensing process驴resulting in more realistic and tighter constraints on matches. The candidate hypotheses are pruned by probabilistic constraint satisfaction to select likely matches based on the image evidence and prior statistical constraints. The resulting hypotheses are ordered most-likely first for verification, thus minimizing unnecessary verifications. The reliability of the verification decision is significantly increased by the use of a robust localization algorithm. Our localization algorithm reliably locates objects despite partial occlusion and significant errors in initial location estimates. We have implemented these techniques in a system that recognizes polyhedral objects in range images. Our results demonstrate accurate recognition while greatly limiting the number of verifications.