Invariant Representation and Matching of Space Curves

Authors:
Chong-Huah Lo;Hon-Son Don
Affiliations:
Telcordia Technology, RRC 1S327, 444 Hoes Lane, Piscataway, NJ 08855, U.S.A.;Department of Electrical Engineering, National Chung–Hsing University, Taichung, Taiwan, ROC
Venue:
Journal of Intelligent and Robotic Systems
Year:
2000

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Abstract

Space curves are highly descriptive features for 3-D objects. Two invariant representations for space curves are discussed in this paper. One represents space curves by complex waveforms. The other represents space curves using the 3-D moment invariants of the data points on the curves. Space curve matching using invariant global features is discussed. An algorithm for matching partially occluded 3-D curves is also presented, in which rigidity constraints on pairwise curve segments are used to determine the globally consistent matching. An association graph can be constructed from the local matches. The maximal cliques of the graph will determine the visible part of the model curves in the scene. Experimental results using 3-D curves obtained from stereo matching and edges detected from the range data are also presented.