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Green Image
Issue No. 05 - September (1988 vol. 10)
ISSN: 0162-8828
pp: 634-647
S. Linnainmaa , Center for Autom. Res., Maryland Univ., College Park, MD, USA
D. Harwood , Center for Autom. Res., Maryland Univ., College Park, MD, USA
L.S. Davis , Center for Autom. Res., Maryland Univ., College Park, MD, USA
ABSTRACT
A procedure is presented to estimate the unconstrained three-dimensional location and orientation of an object with a known shape when it is visible in a single image. Using a generalized Hough transform, all six parameters of the object position are estimated from the distribution of values determined by matching triples of points on the object to possibly corresponding triples in the image. Most likely candidates for location are found, and then the remaining rotational parameters are evaluated. Two solutions are generally admitted to the distribution by every match of triangles. The number of possible matches is reduced by checking a simple geometric relation among triples. Even with partial occlusion, experiments indicate that the procedure is very reliably accurate, although optimization can further improve estimates of the parameters.<>
INDEX TERMS
pattern recognition, picture processing, transforms
CITATION

S. Linnainmaa, D. Harwood and L. Davis, "Pose determination of a three-dimensional object using triangle pairs," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 10, no. 5, pp. 634-647, .
doi:10.1109/34.6772
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