TRIDIMENSIONAL INVARIANT CORRELATION-BASED ON PHASE-CODED AND SINE-CODED RANGE IMAGES

New methods for recognition of range images based on correlation are p resented. The techniques allow the detection of a range image of a tri dimensional pattern whatever its position along the x, y and z axes. T he first method uses the phase-coding of the range image in order to o btain invariance along the z-axis in the correlation process. The seco nd method uses the sine-coding of the range image in order to obtain b etter discrimination than that obtained with phase-coding. The third m ethod is a hybrid one that makes use of sine-coding for the input scen e and phase-coding for the reference image, so both the full translati on invariance and high discrimination abilities are obtained. Computer simulations are presented. Also, an experimental implementation of th e method has been carried out showing good agreement with theoretical predictions.