使用表面描述识别三维物体

T. Fan, G. Medioni, R. Nevatia
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引用次数: 258

摘要

作者提供了一个完整的方法来描述和识别三维物体,利用表面信息。他们的系统将密集范围数据作为输入,并根据其可见表面斑块自动生成场景中物体的符号描述。这种分段表示可以看作是一个图,其节点捕获有关单个表面斑块的信息,其链接表示它们之间的关系,例如遮挡和连通性。在这些关系的基础上,将给定场景的图分解为对应不同对象的子图。一个模型由一组这样的描述来表示,这些描述来自多个视角,通常是4到6个。因此可以自动获取和表示模型。场景中的对象与模型之间的匹配由三个模块执行:筛选器,其中找到每个对象最可能的候选视图;图匹配器,对潜在的匹配图进行比较,并计算它们之间的三维变换;分析程序对结果进行批判性分析,并建议拆分和合并对象图。>
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Recognizing 3-D Objects Using Surface Descriptions
The authors provide a complete method for describing and recognizing 3-D objects, using surface information. Their system takes as input dense range date and automatically produces a symbolic description of the objects in the scene in terms of their visible surface patches. This segmented representation may be viewed as a graph whose nodes capture information about the individual surface patches and whose links represent the relationships between them, such as occlusion and connectivity. On the basis of these relations, a graph for a given scene is decomposed into subgraphs corresponding to different objects. A model is represented by a set of such descriptions from multiple viewing angles, typically four to six. Models can therefore be acquired and represented automatically. Matching between the objects in a scene and the models is performed by three modules: the screener, in which the most likely candidate views for each object are found; the graph matcher, which compares the potential matching graphs and computes the 3-D transformation between them; and the analyzer, which takes a critical look at the results and proposes to split and merge object graphs. >
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