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D.J. Kriegman, J. Ponce, "On Recognizing and Positioning Curved 3D Objects from Image Contours," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 12, no. 12, pp. 11271137, December, 1990.  
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@article{ 10.1109/34.62602, author = {D.J. Kriegman and J. Ponce}, title = {On Recognizing and Positioning Curved 3D Objects from Image Contours}, journal ={IEEE Transactions on Pattern Analysis and Machine Intelligence}, volume = {12}, number = {12}, issn = {01628828}, year = {1990}, pages = {11271137}, doi = {http://doi.ieeecomputersociety.org/10.1109/34.62602}, 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 Recognizing and Positioning Curved 3D Objects from Image Contours IS  12 SN  01628828 SP1127 EP1137 EPD  11271137 A1  D.J. Kriegman, A1  J. Ponce, PY  1990 KW  object models; pattern recognition; 3D objects; image contours; parametric surface patches; intersection curves; computer vision; surface discontinuities; occluding contours; pattern recognition; picture processing VL  12 JA  IEEE Transactions on Pattern Analysis and Machine Intelligence ER   
An approach for explicitly relating the shape of image contours to models of curved threedimensional objects is presented. This relationship is used for object recognition and positioning. Object models consist of collections of parametric surface patches and their intersection curves; this includes nearly all representations used in computeraided geometric design and computer vision. The image contours considered are the projections of surface discontinuities and occluding contours. Elimination theory provides a method for constructing the implicit equation of these contours for an object observed under orthographic or perspective projection. This equation is parameterized by the object's position and orientation with respect to the observer. Determining these parameters is reduced to a fitting problem between the theoretical contour and the observed data points. The proposed approach readily extends to parameterized models. It has been implemented for a simple world composed of various surfaces of revolution and tested on several real images.
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