Abstract
A novel method of 3D object recognition independent of lighting conditions is presented. The recognition model is based on a vector space representation using an orthonormal basis generated by the Lambertian reflectance functions obtained with distant light sources. Changing the lighting conditions corresponds to multiplying the elementary images by a constant factor and because of that, all possible lighting views will be elements that belong to that vector space. The recognition method proposed is based on the calculation of the angle between the vector associated with a certain illuminated 3D object and that subspace. We define the angle in terms of linear correlations to get shift and illumination-invariant detection.
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