Robot vision
Scale-Based Description and Recognition of Planar Curves and Two-Dimensional Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Invariant Properties of Straight Homogeneous Generalized Cylinders and Their Contours
IEEE Transactions on Pattern Analysis and Machine Intelligence
Determination of the Attitude of 3D Objects from a Single Perspective View
IEEE Transactions on Pattern Analysis and Machine Intelligence
Spatial Localization Of Modelled Objects Of Revolution In Monocular Perspective Vision
ECCV '90 Proceedings of the First European Conference on Computer Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Duals, Invariants, and the Recognition of Smooth Objects from their Occlucing Contours
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part I
Shape Models and Object Recognition
Shape, Contour and Grouping in Computer Vision
Curve and Surface Duals and the Recognition of Curved 3D Objects from their Silhouettes
International Journal of Computer Vision - Special Issue on Computer Vision Research at the Beckman Institute of Advanced Science and Technology
IEEE Transactions on Pattern Analysis and Machine Intelligence
Technical section: A potential-based generalized cylinder representation
Computers and Graphics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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The localization of some kinds of modeled generalized cylinders from a single brightness perspective image is addressed. It is shown how the zero-curvature points of their contours can be used to solve the inverse perspective problem. Three key theorems about the perspective projection of space curves and of the limbs of a straight homogeneous generalized cylinder whose scaling function has at least one zero-curvature point are discussed. In view of the localization of homogeneous generalized cylinders, an algorithm previously developed by the authors which estimates the pose of a line-triplet is adapted. A new theoretical result about the inverse perspective projection of cones of revolution useful for the localization of objects of revolution is presented. The corresponding algorithms have been implemented, and results of experiments demonstrate the feasibility of the proposed localization methods.