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W.E.L. Grimson, "On the Recognition of Curved Objects," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 11, no. 6, pp. 632643, June, 1989.  
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@article{ 10.1109/34.24797, author = {W.E.L. Grimson}, title = {On the Recognition of Curved Objects}, journal ={IEEE Transactions on Pattern Analysis and Machine Intelligence}, volume = {11}, number = {6}, issn = {01628828}, year = {1989}, pages = {632643}, doi = {http://doi.ieeecomputersociety.org/10.1109/34.24797}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }  
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TY  JOUR JO  IEEE Transactions on Pattern Analysis and Machine Intelligence TI  On the Recognition of Curved Objects IS  6 SN  01628828 SP632 EP643 EPD  632643 A1  W.E.L. Grimson, PY  1989 KW  curved object recognition; pattern recognition; 2D data; occluded objects; noisy data; search process; rigid polygonal objects; geometry; pattern recognition; picture processing VL  11 JA  IEEE Transactions on Pattern Analysis and Machine Intelligence ER   
The problem of determining the identity and pose of occluded objects from noisy data is examined. Previous work has shown that local measurements of the position and surface orientation of small patches of an object's surface may be used in a constrained search process to solve this problem, for the case of rigid polygonal objects using 2D sensory data, or rigid polyhedral objects using 3D data. The recognition system is extended to recognize and locate curved objects. The extension is done in two dimensions, and applies to the recognition of 2D objects from 2D data, or to the recognition of the 3D objects in stable positions from 2D data.
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