Recognition of 3-D Scene with Partially Occluded Objects

Siwei Lu; Andrew K . C . Wong

doi:10.1117/12.937747

27 March 1987 Recognition of 3-D Scene with Partially Occluded Objects

Siwei Lu, Andrew K . C . Wong

Proceedings Volume 0726, Intelligent Robots and Computer Vision V; (1987) https://doi.org/10.1117/12.937747
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States

Abstract

This paper presents a robot vision system which is capable of recognizing objects in a 3-D scene and interpreting their spatial relation even though some objects in the scene may be partially occluded by other objects. An algorithm is developed to transform the geometric information from the range data into an attributed hypergraph representation (AHR). A hypergraph monomorphism algorithm is then used to compare the AHR of objects in the scene with a set of complete AHR's of prototypes. The capability of identifying connected components and interpreting various types of edges in the 3-D scene enables us to distinguish objects which are partially blocking each other in the scene. Using structural information stored in the primitive area graph, a heuristic hypergraph monomorphism algorithm provides an effective way for recognizing, locating, and interpreting partially occluded objects in the range image.

Citation Download Citation

Siwei Lu and Andrew K . C . Wong "Recognition of 3-D Scene with Partially Occluded Objects", Proc. SPIE 0726, Intelligent Robots and Computer Vision V, (27 March 1987); https://doi.org/10.1117/12.937747

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