On the recognition and location of partially occluded objects

Citation
Y. Zhu et Ld. Seneviratne, On the recognition and location of partially occluded objects, J INTEL ROB, 25(2), 1999, pp. 133-151
Citations number
34
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
ISSN journal
09210296 → ACNP
Volume
25
Issue
2
Year of publication
1999
Pages
133 - 151
Database
ISI
SICI code
0921-0296(199906)25:2<133:OTRALO>2.0.ZU;2-#
Abstract
The recognition and location of partially occluded objects is important for image-guided robot automation. A computational object recognition system c onsists of three main parts: shape representation, matching strategies and verification. The shape representation scheme, which is always application- oriented, should keep extracted features as invariant as possible. This pap er presents a new model-based object recognition scheme for general two dim ensional objects in a cluttered scene. The scheme considers objects subject ed to similarity transformations (i.e., a combination of rotation, scaling and translation). It employs a new feature detection algorithm, combining c urvature measures and polygonal approximation. An approximate, but efficien t matching strategy is proposed for hypothesis generation and synthetic ver ification procedures are introduced to improve the robustness of the system . Experiment results are presented to show that the system works effectivel y and efficiently.