
This Article  
 
Share  
Bibliographic References  
Add to:  
Digg Furl Spurl Blink Simpy Del.icio.us Y!MyWeb  
Search  
 
ASCII Text  x  
F. Quek, R. Jain, T.E. Weymouth, "An AbstractionBased Approach to 3D Pose Determination from Range Images," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 15, no. 7, pp. 722736, July, 1993.  
BibTex  x  
@article{ 10.1109/34.221172, author = {F. Quek and R. Jain and T.E. Weymouth}, title = {An AbstractionBased Approach to 3D Pose Determination from Range Images}, journal ={IEEE Transactions on Pattern Analysis and Machine Intelligence}, volume = {15}, number = {7}, issn = {01628828}, year = {1993}, pages = {722736}, doi = {http://doi.ieeecomputersociety.org/10.1109/34.221172}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }  
RefWorks Procite/RefMan/Endnote  x  
TY  JOUR JO  IEEE Transactions on Pattern Analysis and Machine Intelligence TI  An AbstractionBased Approach to 3D Pose Determination from Range Images IS  7 SN  01628828 SP722 EP736 EPD  722736 A1  F. Quek, A1  R. Jain, A1  T.E. Weymouth, PY  1993 KW  image recognition; cylindrical surfaces; Gaussian curvature signmap descriptors; 3D pose determination; range images; abstractionbased paradigm; planar surfaces; mean curvature signmap descriptors; polynomial approximations; algebraic surface descriptions; biquadratic surfaces; cylinder approximation; parameter estimation; nonlinear regression; approximation theory; image recognition; parameter estimation VL  15 JA  IEEE Transactions on Pattern Analysis and Machine Intelligence ER   
An abstractionbased paradigm that makes explicit the process of imposing assumptions on data is discussed. The units of abstraction are models in which levels of abstraction are determined by the degree of assumption necessary for their application. A generaltospecific refinement process provides a mechanism to proceed gracefully through the abstraction hierarchy. This strategy was applied to the recognition and pose determination of objects comprising simple and compound cylindrical and planar surfaces in dense range data. A method of computing reliable Gaussian and mean curvature signmap descriptors from the polynomial approximations of surfaces is demonstrated. A means for determining the pose of constructed geometric forms whose algebraic surface descriptions are nonlinear in terms of their orienting parameters is developed. It is shown that biquadratic surfaces are suitable companionlinear forms for cylinder approximation and parameter estimation. The estimates provide the initial parametric approximations necessary for a nonlinear regression stage to fine tune the estimates by fitting the actual nonlinear form to the data.
[1] H. Asada and M. Brady, "A curvature primal sketch," inProc. IEEE Workshop Comput. Vision: Representation Cont.(Annapolis, MD), May 1984 pp. 817.
[2] M. F. Augusteijn and C. R. Dyer, "Recognition and recovery of threedimensional orientation of planar point patterns,"Computer Vision Graphics Image Processing, vol. 36, pp. 7699, 1986.
[3] D. H. Ballard and D. Sabbah, "Viewer independent shape recognition,"IEEE Trans. Patt. Analysis Machine Intell., vol. PAMI5, no. 6, pp. 653659, Nov. 1983.
[4] H. G. Barrow and J. M. Tenenbaum, "Interpreting line drawings as three dimensional surfaces,"Artificial Intell., vol. 17, pp. 75117, 1981.
[5] P. R. Beaudet, "Rotationally invariant image operators," inProc. 4th Int. Joint Conf. Patt. Recogn., (Kyoto, Japan) Nov. 710, 1978.
[6] P. J. Besl and R. C. Jain, "Threedimensional object recognition,"ACM Comput. Surveys, vol. 17, no. 1, pp. 75145, Mar. 1985.
[7] P. J. Besl,Surfaces in Range Image Understanding. Berlin: SpringerVerlag, 1988.
[8] P. J. Besl and R. Jain, "Segmentation through variableorder surface fitting,"IEEE Trans. Patt. Anal. Machine Intell., vol. 10, no. 2, pp. 167192, Mar. 1988.
[9] T. O. Binford, "Survey of modelbased image analysis systems,"Int. J. Robotics Res., vol. 1, no. 1, pp. 1864, Spring 1982.
[10] R. C. Bolles, P. Horaud, and M. J. Hannah, "3DPO: A threedimensional part orientation system," inProc. First Int. Symp. Robotics Res., 1984 pp. 413424.
[11] B. A. Boyter and J. K. Aggarwal, "Recognition of polyhedra from range data,"IEEE Expert, pp. 4759, Spring 1986.
[12] M. Brady and A. Yuille, "An extremum principle for shape from contour,"IEEE Trans. Patt. Anal. Machine Intell., vol. PAMI6, no. 3, pp. 288301, 1984.
[13] M. Brady, "Representing shape," inProc. IEEE Int. Conf. Robots, 1984, pp. 256265.
[14] R. A. Brooks, R. Greiner, and T. O. Binford, "The ACRONYM modelbased vision system," inProc. of the 76h IJCAI, 1979 pp. 105113.
[15] R. A. Brooks, "Symbolic reasoning among 3D models and 2D images,"Artificial Intell., vol. 17, pp. 285348, Aug. 1981.
[16] R. A. Brooks, "Modelbased threedimensional interpretations of twodimensional images,"IEEE Trans. Patt. Anal. Machine Intell., vol. PAMI5, no. 2, pp. 140149, Mar. 1983.
[17] P. Brou, "Using the Gaussian image to find the orientation of objects,"Int. J. Robotics Res., vol. 3, no. 4, pp. 89125, Winter 1984.
[18] J. K. Cheng and T. S. Huang, "Recognition of curvilinear objects by matching relational structures," inProc. PRIP, 1982 pp. 343348.
[19] R.T. Chin and C. R. Dyer, "Modelbased recognition in robot vision,"ACM Comput. Surveys, vol. 18, no. 1, pp. 67108, Mar. 1986.
[20] M. Dhome and T. Kasvand, "Polyhedra recognition by hypothesis accumulation from range data,"Nat. Res. Council Canada, Div. Elect. Eng., ERB985, NRCC No. 25655, May 1986.
[21] J. R. Engelbrecht and F. M. Wahl, "Polyhedral object recognition using Houghspace features,"Pattern Recog., vol. 21, no. 6, pp. 155168, 1988.
[22] Environmental Res. Inst. Michigan, "Configuration description for ERIM/USPS range sensorDynamic and static modes," ERIM, Ann Arbor, MI, 1989.
[23] R. Horaud and R.C. Bolles, "3DPO's strategy for matching threedimensional objects in range data," inProc. Int. Conf. Robotics, (Atlanta, GA), Mar. 1984, pp. 7885.
[24] R. Horaud and M. Brady, "On the geometric interpretation of image contours," inProc. 1st Int. Conf. Comput. Vision(London UK), 1987, pp. 374382.
[25] B. K. P. Horn, "Extended Gaussian images,"Proc. IEEE, vol. 72, no. 12, pp. 16711686, 1984.
[26] K. Ikeuchi, "Recognition of 3D objects using the extended Gaussian image," inProc. 7th Int. Joint Conf. Artificial Intell.(Vancouver), Aug. 1981, pp. 595600.
[27] K. Ikeuchi, B. K. P. Horn, and S. Nagata, "Picking up an object from a pile of objects," M.I.T. Artificial Intell. Lab., A.I. Memo No. 726, May 1983.
[28] T. Kanade, "Recovery of the threedimensional shape of an object from a single view,"Artificial Intell., vol. 17, pp. 409460, Aug. 1981.
[29] J. H. Kindle,Analytical Geometry, New York: McGrawHill, 1950.
[30] T. F. Knoll and R. C. Jain, "Learning to recognize objects using feature indexed hypotheses," inProc. 1st Int. Conf. Comput. vision(ICCV'87), 1987.
[31] J. J. Little, "An iterative method for reconstruction convex polyhedra from extended Gaussian images," inProc. Nat. Conf. Artificial Intell., (Washington, DC), Aug. 1983, pp. 247250.
[32] D. L. Milgram and C. M. Bjorklund, "Range image processing: Planar surface extraction," inProc. IJCPR5, 1980, pp. 912919.
[33] R. S. Millman and G. D. Parker,Elements of Differential Geometry, Englewood Cliffs, NJ: PrenticeHall, 1977.
[34] J. O'Rourke, "Polyhedra of minimal as 3D models," inProc. 7th Int. Joint Conf. Artificial Intell.(Vancouver, Canada), Aug. 1981, pp. 664666.
[35] W. H. Press, B. P. Flannery, S. A. Teukolsky, and W. T. Vetterling,Numerical Recipes. Cambridge, UK: Cambridge University Press, 1986.
[36] A. J. Riggs, L. M. Tomko, K. G. Wesolowicz, and C. J. Jacobus, "Design of a laser radar range imaging sensor for postal applications," Environmental Res. Inst. Michigan, Ann Arbor, Tech. Rep. 1973011 S1, Oct. 1986.
[37] R. E. Sampson, "3D range sensor via phase shift detection,"IEEE Comput., vol. 20, no. 8, pp. 2324, 1987.
[38] D. J. Svetkoff, "Towards a high resolution, video rate, 3D sensor for machine vision," inProc. SPIE Conf. Optics Illumination, Image Sensing Machine Vision(Cambridge, MA) Oct. 3031, 1986, vol. 728.
[39] W. A. Wilson and J. I. Tracey,Analytic GeometryAlternate Edition. Boston: D.C Heath, 1937.
[40] K. C. You and KS Fu, "A syntactic approach to shape recognition using attributed grammars,"IEEE Trans. Syst. Man Cybern., vol. SMC9, no. 6, pp. 334345, June 1979.