An algebraic and Bayesian technology for object recognition

Abstract

This paper presents a new robust, low computational cost technology for recognizing free-form objects in three-dimensional (3D) range data, or, in two dimensional (2D) curve data in the image plane. Objects are represented by implicit polynomials (i.e. 3D algebraic surfaces or 2D algebraic curves) of degree greater than two, and are recognized by computing and matching vectors of their algebraic invariants (which are functions of their coefficients that are invariant to translations, rotations and general linear transformations). Such polynomials of the fourth degree can represent objects considerably more complicated than quadrics and super-quadrics, and can realize object recognition at significantly lower computational cost. Unfortunately, the coefficients of high degree implicit polynomials are highly sensitive to small changes in the data to which the polynomials are fit, thus often making recognition based on these polynomial coefficients or their invariants unreliable. We take two approaches to the...