Automatic pose determination of 3D shapes based on modeling wave sets: a new data structure for object modeling

A new solution to the problem of pose determination for 3D objects is prese nted in this paper. The proposed algorithm is based on a new spherical data structure called modeling wave set (MWS) where an n-connectivity relations hip is established. Since MWS remains invariant to spatial transformations, efficient and lower computational cost algorithms can be achieved. The algorithm. has been tested in our laboratory on polyhedral and free-for m shapes using a range finder sensor. Finally, partial modeling based on MW S is a promising research line that could provide new solutions to typical computer vision problems. (C) 2001 Elsevier Science B.V. All rights reserve d.