A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
The design and analysis of spatial data structures
The design and analysis of spatial data structures
IEEE Transactions on Pattern Analysis and Machine Intelligence
Fitting Parameterized Three-Dimensional Models to Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
General methods for determining projective invariants in imagery
CVGIP: Image Understanding
Space and Time Bounds on Indexing 3D Models from 2D Images
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part I
Structural Indexing: Efficient 3-D Object Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
3-D Shape Recovery Using Distributed Aspect Matching
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
From volumes to views: an approach to 3-D object recognition
CVGIP: Image Understanding - Special issue on directions in CAD-based vision
Structural Indexing: Efficient 2D Object Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence
Sensor Modeling, Probabilistic Hypothesis Generation, and Robust Localization for Object Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence
Visual learning and recognition of 3-D objects from appearance
International Journal of Computer Vision
Similarity metric learning for a variable-kernel classifier
Neural Computation
Local Grayvalue Invariants for Image Retrieval
IEEE Transactions on Pattern Analysis and Machine Intelligence
An Algorithm for Finding Best Matches in Logarithmic Expected Time
ACM Transactions on Mathematical Software (TOMS)
View Variation of Point-Set and Line-Segment Features
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multidimensional Indexing for Recognizing Visual Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Angle Densities and Recognition of 3D Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
Object Recognition Using Multidimensional Receptive Field Histograms
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
Shape Indexing Using Approximate Nearest-Neighbour Search in High-Dimensional Spaces
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Probabilistic 3D object recognition
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Indexing without invariants in model-based object recognition
Indexing without invariants in model-based object recognition
Pattern Classification (2nd Edition)
Pattern Classification (2nd Edition)
Probabilistic Models of Appearance for 3-D Object Recognition
International Journal of Computer Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
SoftPOSIT: Simultaneous Pose and Correspondence Determination
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part III
A System to Navigate a Robot into a Ship Structure
ICVS '01 Proceedings of the Second International Workshop on Computer Vision Systems
Proceedings of the Joint IAPR International Workshops on Advances in Pattern Recognition
Fast retrieval of isolated visual shapes
Computer Vision and Image Understanding
SoftPOSIT: Simultaneous Pose and Correspondence Determination
International Journal of Computer Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Shape-Based Recognition of Wiry Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
Example-Based Photometric Stereo: Shape Reconstruction with General, Varying BRDFs
IEEE Transactions on Pattern Analysis and Machine Intelligence
Foundations and Trends® in Computer Graphics and Vision
Measuring scene complexity to adapt feature selection of model-based object tracking
ICVS'03 Proceedings of the 3rd international conference on Computer vision systems
Combining geometric and appearance priors for robust homography estimation
ECCV'10 Proceedings of the 11th European conference on computer vision conference on Computer vision: Part III
Probabilistic 3D object recognition based on multiple interpretations generation
ACCV'10 Proceedings of the 10th Asian conference on Computer vision - Volume Part IV
Fast detection of multiple textureless 3-D objects
ICVS'13 Proceedings of the 9th international conference on Computer Vision Systems
| Hi-index | 0.14 |
We present a method of indexing three-dimensional objects from single two-dimensional images. Unlike most other methods to solve this problem, ours does not rely on invariant features. This allows a richer set of shape information to be used in the recognition process. We also suggest the $k$d-tree as an alternative indexing data structure to the standard hash table. This makes hypothesis recovery more efficient in high-dimensional spaces, which are necessary to achieve specificity in large model databases. Search efficiency is maintained in these regimes by the use of Best-Bin First search, a modified $k$d-tree search algorithm which locates approximate nearest-neighbors. Neighbors recovered from the index are used to generate probability estimates, local within the feature space, which are then used to rank hypotheses for verification. On average, the ranking process greatly reduces the number of verifications required. Our approach is general in that it can be applied to any real-valued feature vector. In addition, it is straightforward to add to our index information from real images regarding the true probability distributions of the feature groupings used for indexing. In this paper, we provide experiments with both synthetic and real images, as well as details of the practical implementation of our system, which has been applied in the domain of telerobotics.