Abstract
The aim of the work reported here is to build a useful toolset for 3D model-based vision on an SIMD parallel machine, the AMT DAP. Included in the toolset are facilities for model specification, manipulation and rendering using a ray-tracing approach as well as model recognition and validation using a geometrical-matching approach. In particular, an SIMD parallel version of a ray tracer and an SIMD parallel version of a bottom-up geometrical matcher are described. The ray tracer can render constructive solid geometry models and incorporates spatial subdivision of the scene. The matcher uses edge primitives recovered from scenes to match to model edges using local constraints and deals with spurious data using bin assignments. The overall toolset is illustrated by its use in closed-form testing and refinement, where the models, camera geometry and frame-to-frame motion in an image sequence generated by the ray tracer are known, but are checked and validated using geometrical matching, recognition and localisation.
Published Version
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