Robotics Research Technical Report

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Excerpt from Robotics Research Technical Report: Three-Dimensional Object Recognition From Single Two-Dimensional Images A computer vision system has been implemented that can recognize three-dimensional objects from unknown viewpoints in single gray-scale images. Unlike most other approaches, the recognition is accomplished without any attempt to reconstruct depth information bottom-up from the visual input. Instead, three other mechanisms are used that can bridge the gap between the two-dimensional image and knowledge of three-dimensional objects. First, a process of perceptual organization is used to form groupings and structures in the image that are likely to be invariant over a wide range of viewpoints. Second, a probabilistic ranking method is used to reduce the size of the search space during model based matching. Finally, a process of spatial correspondence brings the projections of three-dimensional models into direct correspondence with the image by solving for unknown viewpoint and model parameters. A high level of robustness in the presence of occlusion and missing data can be achieved through full application of a viewpoint consistency constraint. It is argued that similar mechanisms and constraints form the basis for recognition in human vision. 1. Introduction Much recent research in computer vision ha been aimed at the reconstruction of depth information from the two-dimensional visual input. An assumption underlying some of this research is that the recognition of three-dimensional objects can most easily be carried out by matching against reconstructed three-dimensional data. However, there is reason to believe that this is not the primary pathway used for recognition in human vision and that most practical applications of computer vision could similarly be performed without bottom-up depth reconstruction. Although depth measurement has an important role in certain visual problems, it is often unavailable or is expensive to obtain. General-purpose vision must be able to function effectively even in the absence of the extensive information required for bottom-up reconstruction of depth or other physical properties. About the Publisher Forgotten Books publishes hundreds of thousands of rare and classic books. Find more at www.forgottenbooks.com This book is a reproduction of an important historical work. Forgotten Books uses state-of-the-art technology to digitally reconstruct the work, preserving the original format whilst repairing imperfections present in the aged copy. In rare cases, an imperfection in the original, such as a blemish or missing page, may be replicated in our edition. We do, however, repair the vast majority of imperfections successfully, any imperfections that remain are intentionally left to preserve the state of such historical works.