Three-Dimensional Object Recognition from Range Images

1 Introduction.- 1.1 Computer Vision.- 1.2 Three-Dimensional Object Recognition.- 1.2.1 Representation.- 1.2.2 Indexing.- 1.2.3 Constraint Propagation and Constraint Satisfaction.- 1.3 Common Goals of Three-Dimensional Object Recognition Systems.- 1.4 Qualitative Features.- 1.4.1 Study of Qualitative Properties in Low-level Vision Processes.- 1.4.2 Qualitative Features in Object Recognition.- 1.5 The Scope and Outline of the Book.- I Fundamentals of Range Image Processing and Three-Dimensional Object Recognition.- 2 Range Image Sensors and Sensing Techniques.- 2.1 Range Image Forms.- 2.2 Classification of Range Sensors.- 2.2.1 Radar Sensors.- 2.2.2 Triangulation Sensors.- 2.2.3 Sensors based on Optical Interferometry.- 2.2.4 Sensors Based on Focusing Techniques.- 2.2.5 Sensors Based on Fresnel Diffraction.- 2.2.6 Tactile Range Sensors.- 3 Range Image Segmentation.- 3.1 Mathematical Formulation of Range Image Segmentation.- 3.2 Fundamentals of Surface Differential Geometry.- 3.3 Surface Curvatures.- 3.4 Range Image Segmentation Techniques.- 3.4.1 Edge-based Segmentation Techniques.- 3.4.2 Region-based Segmentation Techniques.- 3.4.3 Hybrid Segmentation Techniques.- 3.5 Summary.- 4 Representation.- 4.1 Formal Properties of Geometric Representations.- 4.2 Wire-Frame Representation.- 4.3 Constructive Solid Geometry (CSG) Representation.- 4.4 Qualitative Representation using Geons.- 4.5 Aspect Graph Representation.- 4.6 EGI Representation.- 4.7 Representation Using Generalized Cylinders.- 4.8 Superquadric Representation.- 4.9 Octree Representation.- 4.10 Summary.- 5 Recognition and Localization Techniques.- 5.1 Recognition and Localization Techniques-An Overview.- 5.2 Interpretation Tree Search.- 5.3 Hough Clustering.- 5.4 Matching of Relational Structures.- 5.5 Geometric Hashing.- 5.6 Iterative Model Fitting.- 5.7 Indexing and Qualitative Features.- 5.8 Vision Systems as Coupled Systems.- 5.8.1 Object-Oriented Representation for Coupled Systems.- 5.8.2 Object-Oriented Representation for 3-D Object Recognition.- 5.8.3 Embedding Parallelism in an Object-Oriented Coupled System.- 5.9 Summary.- II Three-Dimensional Object Recognition Using Qualitative Features.- 6 Polyhedral Object Recognition.- 6.1 Preprocessing and Segmentation.- 6.1.1 Plane Fitting to Pixel Data.- 6.1.2 Clustering in Parameter Space.- 6.1.3 Post Processing of Clustering Results.- 6.1.4 Contour Extraction and Classification.- 6.1.5 Computation of Edge Parameters.- 6.2 Feature Extraction.- 6.3 Interpretation Tree Search.- 6.3.1 Pose Determination.- 6.3.2 Scene Interpretation Hypothesis Verification.- 6.4 Generalized Hough Transform.- 6.4.1 Feature Matching.- 6.4.2 Computation of the Transform.- 6.4.3 Pose Clustering.- 6.4.4 Verification of the Pose Hypothesis.- 6.5 Experimental Results.- 6.6 Summary.- 7 Recognition of Curved Objects.- 7.1 Representation of Curved Surfaces.- 7.1.1 Extraction of Surface Curvature Features from Range Images.- 7.2 Recognition Using a Point-Wise Curvature Description.- 7.2.1 Object Recognition Using Point-Wise Surface Matching.- 7.3 Recognition Using Qualitative Features.- 7.3.1 Cylindrical and Conical Surfaces.- 7.3.2 The Recognition Process Using Qualitative Features.- 7.3.3 Localization of a Cylindrical Surface.- 7.3.4 Localization of a Conical Surface.- 7.3.5 Localization of a Spherical Surface.- 7.3.6 An Experimental Comparison.- 7.4 Recognition of Complex Curved Objects.- 7.5 Dihedral Feature Junctions.- 7.5.1 Types of Dihedral Feature Junctions.- 7.5.2 Matching of Dihedral Feature Junctions.- 7.5.3 Pose Determination.- 7.5.4 Pose Clustering.- 7.6 Experimental Results.- 7.7 Summary.- III Sensitivity Analysis and Parallel Implementation.- 8 Sensitivity Analysis.- 8.1 Junction Matching and Pose Determination.- 8.2 Sensitivity Analysis.- 8.3 Qualitative Features.- 8.4 The Generalized Hough Transform.- 8.4.1 The Generalized Hough Transform in the Absence of Occlusion and Sensor Error.- 8.4.2 The Generalized Hough Transform in Presence of Occlusion and Sensor Error.- 8.4.3 Probability of Spurious Peaks in the Generalized Hough Transform.- 8.5 The Use of Qualitative Features in the Generalized Hough Transform.- 8.5.1 Reduction in the Search Space of Scene Interpretations due to Qualitative Features.- 8.5.2 Reducing the Effect of Smearing in Parameter Space using Qualitative Features.- 8.5.3 The Probability of Random Peaks in the Weighted Generalized Hough Transform.- 8.5.4 Determination of ?k(x), pk(x) and P(k).- 8.6 Weighted Generalized Hough Transform.- 9 Parallel Implementations of Recognition Techniques.- 9.1 Parallel Processing in Computer Vision.- 9.1.1 Parallel Architectures.- 9.1.2 Parallel Algorithms.- 9.2 The Connection Machine.- 9.2.1 System Organization.- 9.2.2 Performance Specifications.- 9.3 Object Recognition on the Connection Machine.- 9.3.1 Feature Extraction.- 9.3.2 Localization of Curved Surfaces.- 9.3.3 Computation of Dihedral Feature Junctions.- 9.3.4 Matching and Pose Computation.- 9.3.5 Pose Clustering.- 9.4 Object Recognition on the Hypercube.- 9.4.1 Scene Description.- 9.4.2 Model Data.- 9.4.3 Scene Feature Data.- 9.4.4 Pruning Constraints.- 9.4.5 Localization.- 9.5 Mapping the Interpretation Tree on the Hypercube.- 9.5.1 Breadth-First Mapping of the Interpretation Tree.- 9.5.2 Depth-First Mapping of the Interpretation Tree.- 9.5.3 Depth-First Mapping of the Interpretation Tree with Load Sharing.- 9.5.4 Experimental Results.

[1]  Tomaso Poggio,et al.  Cooperative computation of stereo disparity , 1988 .

[2]  B E Robertson,et al.  Tactile Sensor System for Robotics , 1985 .

[3]  Madan M. Gupta,et al.  Introduction to Fuzzy Arithmetic , 1991 .

[4]  Danilo Emilio De Rossi,et al.  Tactile sensors and the gripping challenge , 1985 .

[5]  Avinash C. Kak,et al.  3-D Object Recognition Using Bipartite Matching Embedded in Discrete Relaxation , 1991, IEEE Trans. Pattern Anal. Mach. Intell..

[6]  Julius T. Tou,et al.  Pattern Recognition Principles , 1974 .

[7]  Adolfo Guzmán-Arenas,et al.  COMPUTER RECOGNITION OF THREE-DIMENSIONAL OBJECTS IN A VISUAL SCENE , 1968 .

[8]  I. Faux,et al.  Computational Geometry for Design and Manufacture , 1979 .

[9]  Anil K. Jain,et al.  On reliable curvature estimation , 1989, CVPR.

[10]  Baba C. Vemuri,et al.  Representation and recognition of objects from dense range maps , 1987 .

[11]  Requicha,et al.  Solid Modeling: A Historical Summary and Contemporary Assessment , 1982, IEEE Computer Graphics and Applications.

[12]  Gerard Medioni,et al.  Object recognition using geometric hashing on the Connection Machine , 1990, [1990] Proceedings. 10th International Conference on Pattern Recognition.

[13]  Chris L. Jackins,et al.  Oct-trees and their use in representing three-dimensional objects , 1980 .

[14]  Anil K. Jain,et al.  BONSAI: 3D Object Recognition Using Constrained Search , 1990, IEEE Trans. Pattern Anal. Mach. Intell..

[15]  Massimo Bergamasco,et al.  Tactile perception in unstructured environments: A case study for rehabilitative robotics applications , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[16]  Francois Blais,et al.  Compact three-dimensional camera for robotic applications , 1986 .

[17]  Takeo Kanade,et al.  Autonomous scene description with range imagery , 1985, Comput. Vis. Graph. Image Process..

[18]  M. Hebert,et al.  The Representation, Recognition, and Locating of 3-D Objects , 1986 .

[19]  R. Haralick,et al.  The Topographic Primal Sketch , 1983 .

[20]  Richard A. Volz,et al.  Recognizing Partially Occluded Parts , 1985, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[21]  Paul J. Besl.  Geometric signal processing , 1989 .

[22]  Katsushi Ikeuchi,et al.  Numerical Shape from Shading and Occluding Boundaries , 1981, Artif. Intell..

[23]  Allan Gottlieb,et al.  Highly parallel computing , 1989, Benjamin/Cummings Series in computer science and engineering.

[24]  Charles R. Dyer,et al.  An algorithm for constructing the aspect graph , 1986, 27th Annual Symposium on Foundations of Computer Science (sfcs 1986).

[25]  Cleve Moler,et al.  Mathematical Handbook for Scientists and Engineers , 1961 .

[26]  Ramesh C. Jain,et al.  Segmentation through Variable-Order Surface Fitting , 1988, IEEE Trans. Pattern Anal. Mach. Intell..

[27]  D L Mader.  Holographic interferometry on pipes: precision interpretation by least-squares fitting. , 1985, Applied optics.

[28]  Minsoo Suk,et al.  Pose determination using vertex-pairs on the Connection Machine , 1989, [Proceedings 1989] IEEE International Workshop on Tools for Artificial Intelligence.

[29]  Ray A. Jarvis,et al.  A Laser Time-of-Flight Range Scanner for Robotic Vision , 1983, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[30]  A. R. Johnston,et al.  A Scanning Laser Rangefinder for a Robotic Vechicle , 1977, IJCAI.

[31]  P. Grossmann,et al.  Depth from focus , 1987, Pattern Recognit. Lett..

[32]  Anthony P. Reeves,et al.  Parallel computer architectures for image processing , 1984, Comput. Vis. Graph. Image Process..

[33]  Merril I. Skolnik,et al.  Introduction to radar systems /2nd edition/ , 1980 .

[34]  Jake K. Aggarwal,et al.  Curvature-based representation of objects from range data , 1986, Image Vis. Comput..

[35]  W. Eric L. Grimson,et al.  The combinatorics of local constraints in model-based recognition and localization from sparse data , 1984, JACM.

[36]  King-Sun Fu,et al.  An Image Understanding System Using Attributed Symbolic Representation and Inexact Graph-Matching , 1986, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[37]  D. D. Harrison,et al.  High-Speed Triangulation-Based 3-D Imaging with Orthonormal Data Projections and Error Detection , 1990, IEEE Trans. Pattern Anal. Mach. Intell..

[38]  James J. Little,et al.  Algorithmic Techniques for Computer Vision on a Fine-Grained Parallel Machine , 1989, IEEE Trans. Pattern Anal. Mach. Intell..

[39]  Ramesh C. Jain,et al.  Three-dimensional object recognition , 1985, CSUR.

[40]  Michael J. B. Duff,et al.  Review of the CLIP image processing system , 1899, AFIPS National Computer Conference.

[41]  K J Gasvik.  Moire technique by means of digital image processing. , 1983, Applied optics.

[42]  J. Malik,et al.  Recovering Three Dimensional Shape from a Single Image of Curved Objects , 1987, IJCAI.

[43]  W. Eric L. Grimson,et al.  On the sensitivity of geometric hashing , 1990, [1990] Proceedings Third International Conference on Computer Vision.

[44]  D. Kriegman,et al.  Computing exact aspect graphs of curved objects: Solids of revolution , 1989, [1989] Proceedings. Workshop on Interpretation of 3D Scenes.

[45]  Terrance E. Boult,et al.  Recovery of superquadrics from depth information , 1987 .

[46]  H. Carter.  Fuzzy Sets and Systems — Theory and Applications , 1982 .

[47]  Powell Hall.  Descriptions from Sparse 3-D Data * , .

[48]  S. Levialdi.  Integrated technology for parallel image processing , 1985 .

[49]  Richard M. White,et al.  Tactile sensing array based on forming and detecting an optical image , 1985 .

[50]  Robert C. Bolles,et al.  3DPO: A Three- Dimensional Part Orientation System , 1986, IJCAI.

[51]  Peter K. Allen,et al.  Integrating Vision and Touch for Object Recognition Tasks , 1988, Int. J. Robotics Res..

[52]  A. Kandel,et al.  Fuzzy sets, fuzzy algebra, and fuzzy statistics , 1978, Proceedings of the IEEE.

[53]  Suchendra M. Bhandarkar,et al.  Integrating edge and surface information for range image segmentation , 1992, Proceedings IEEE Southeastcon '92.

[54]  W. Grimson,et al.  Model-Based Recognition and Localization from Sparse Range or Tactile Data , 1984 .

[55]  George C. Stockman,et al.  Surface Orientation from a Projected Grid , 1989, IEEE Trans. Pattern Anal. Mach. Intell..

[56]  David W. Jacobs,et al.  Space and Time Bounds on Indexing 3D Models from 2D Images , 1991, IEEE Trans. Pattern Anal. Mach. Intell..

[57]  Hongbin Zha,et al.  Determining orientation, location and size of primitive surfaces by a modified hough transformation technique , 1988, Pattern Recognit..

[58]  Suchendra M. Bhandarkar,et al.  Pose verification as an optimal assignment problem , 1991, Pattern Recognit. Lett..

[59]  W. Daniel Hillis,et al.  The connection machine , 1985 .

[60]  Minoru Asada,et al.  Determining Surface Orientation by Projecting a Stripe Pattern , 1988, IEEE Trans. Pattern Anal. Mach. Intell..

[61]  King-Sun Fu,et al.  A graph distance measure for image analysis , 1984, IEEE Transactions on Systems, Man, and Cybernetics.

[62]  R. S. Fearing,et al.  Tactile Sensing Mechanisms , 1990, Int. J. Robotics Res..

[63]  Robert Bergevin,et al.  Generic object recognition: building coarse 3D descriptions from line drawings , 1989, [1989] Proceedings. Workshop on Interpretation of 3D Scenes.

[64]  W. Eric L. Grimson,et al.  Computational Experiments with a Feature Based Stereo Algorithm , 1985, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[65]  Jake K. Aggarwal,et al.  Recognition of Polyhedra from Range Data , 1986, IEEE Expert.

[66]  Rodney A. Brooks,et al.  Symbolic Reasoning Among 3-D Models and 2-D Images , 1981, Artif. Intell..

[67]  I. Biederman.  Recognition-by-components: a theory of human image understanding. , 1987, Psychological review.

[68]  R. Jain,et al.  Generating aspect graphs for curved objects , 1989, [1989] Proceedings. Workshop on Interpretation of 3D Scenes.

[69]  Philip E. Brou.  Using the Gaussian Image to Find the Orientation of Objects , 1984 .

[70]  Donald Meagher,et al.  Geometric modeling using octree encoding , 1982, Computer Graphics and Image Processing.

[71]  Berthold K. P. Horn,et al.  The Mechanical Manipulation of Randomly Oriented Parts , 1984 .

[72]  D. Marr,et al.  Representation and recognition of the spatial organization of three-dimensional shapes , 1978, Proceedings of the Royal Society of London. Series B. Biological Sciences.

[73]  Aldo de Luca,et al.  Fuzzy Sets and Decision Theory , 1973, Inf. Control..

[74]  Tod S. Levitt,et al.  Qualitative Navigation for Mobile Robots , 1990, Artif. Intell..

[75]  J. Besag.  Spatial Interaction and the Statistical Analysis of Lattice Systems , 1974 .

[76]  David Casasent,et al.  Determination of Three-Dimensional Object Location and Orientation from Range Images , 1989, IEEE Trans. Pattern Anal. Mach. Intell..

[77]  I. Biederman.  Human image understanding: Recent research and a theory , 1985, Computer Vision Graphics and Image Processing.

[78]  R Ahola,et al.  Recent Results Of The Performance Analysis Of A 3-D Sensor Based On Time-Of-Flight Measurements , 1986, Other Conferences.

[79]  Herbert Freeman,et al.  Characteristic Views As A Basis For Three-Dimensional Object Recognition , 1982, Other Conferences.

[80]  Ramesh C. Jain,et al.  Motion Stereo Using Ego-Motion Complex Logarithmic Mapping , 1987, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[81]  Kai Hwang,et al.  Computer architecture and parallel processing , 1984, McGraw-Hill Series in computer organization and architecture.

[82]  Robert C. Bolles,et al.  Epipolar-plane image analysis: a technique for analyzing motion sequences , 1987 .

[83]  Thomas S. Huang,et al.  A survey of construction and manipulation of octrees , 1988, Comput. Vis. Graph. Image Process..

[84]  Steven M. Drucker,et al.  Performance analysis of a tactile sensor , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[85]  W. Eric L. Grimson,et al.  Localizing Overlapping Parts by Searching the Interpretation Tree , 1987, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[86]  Anil K. Jain,et al.  Algorithms for Clustering Data , 1988 .

[87]  G. Beheim,et al.  Range finding using frequency-modulated laser diode. , 1986, Applied optics.

[88]  W. Eric L. Grimson,et al.  On the Sensitivity of the Hough Transform for Object Recognition , 1990, IEEE Trans. Pattern Anal. Mach. Intell..

[89]  O. Sasaki,et al.  Sinusoidal phase modulating interferometry for surface profile measurement. , 1986, Applied optics.

[90]  Sundaram Ganapathy,et al.  Reconstruction of scenes containing polyhedra from stereo pair of views , 1976 .

[91]  Christopher M. Brown,et al.  Some Mathematical and Representational Aspects of Solid Modeling , 1981, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[92]  Tomaso Poggio,et al.  Probabilistic Solution of Ill-Posed Problems in Computational Vision , 1987 .

[93]  Mark H. Lee,et al.  A Survey of Robot Tactile Sensing Technology , 1989, Int. J. Robotics Res..

[94]  Leonard M. Uhr.  Algorithm-structured computer arrays and networks , 1984 .

[95]  Terrance E. Boult,et al.  Error Of Fit Measures For Recovering Parametric Solids , 1988, [1988 Proceedings] Second International Conference on Computer Vision.

[96]  Alex Pentland,et al.  Perceptual Organization and the Representation of Natural Form , 1986, Artif. Intell..

[97]  Leonard Uhr.  Multi-computer architectures for artificial intelligence - toward fast, robust, parallel systems , 1987 .

[98]  Thomas O. Binford,et al.  Computer Description of Curved Objects , 1973, IEEE Transactions on Computers.

[99]  R. Haralick.  Digital Step Edges from Zero Crossing of Second Directional Derivatives , 1984, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[100]  M. B. Clowes,et al.  On Seeing Things , 1971, Artif. Intell..

[101]  George J. Klir,et al.  Fuzzy sets, uncertainty and information , 1988 .

[102]  John G. Proakis,et al.  Probability, random variables and stochastic processes , 1985, IEEE Trans. Acoust. Speech Signal Process..

[103]  T C Strand,et al.  Range measurement using Talbot diffraction imaging of gratings. , 1984, Applied optics.

[104]  S. Inokuchi,et al.  Three-dimensional surface measurement by space encoding range imaging , 1985 .

[105]  Ernest L. Hall,et al.  Three-Dimensional Moment Invariants , 1980, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[106]  Russ Miller,et al.  Data Movement Techniques for the Pyramid Computer , 1987, SIAM J. Comput..

[107]  C. V. Ramamoorthy,et al.  Object-oriented systems , 1988, IEEE Expert.

[108]  J R Leger,et al.  Real-time depth measurement and display using Fresnel diffraction and white-light processing. , 1984, Applied optics.

[109]  Jake K. Aggarwal,et al.  Detection of Edges Using Range Information , 1982, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[110]  Peter K. Allen,et al.  Acquisition and interpretation of 3-D sensor data from touch , 1990, IEEE Trans. Robotics Autom..

[111]  David Nitzan,et al.  Three-Dimensional Vision Structure for Robot Applications , 1988, IEEE Trans. Pattern Anal. Mach. Intell..

[112]  William B. Thompson,et al.  Disparity Analysis of Images , 1980, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[113]  Anil K. Jain,et al.  Surface classification: hypothesis testing and parameter estimation , 1988, Proceedings CVPR '88: The Computer Society Conference on Computer Vision and Pattern Recognition.

[114]  Kim L. Boyer,et al.  Color-Encoded Structured Light for Rapid Active Ranging , 1987, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[115]  Leonard Uhr,et al.  Parallel computer vision , 1987 .

[116]  Yunde Jia.  Description and recognition of curved objects , 1992, Proceedings., 11th IAPR International Conference on Pattern Recognition. Vol. III. Conference C: Image, Speech and Signal Analysis,.

[117]  Takeo Kanade,et al.  Automatic generation of object recognition programs , 1988, Proc. IEEE.

[118]  Michael J. Flynn,et al.  Some Computer Organizations and Their Effectiveness , 1972, IEEE Transactions on Computers.

[119]  Gérard G. Medioni,et al.  Structural Indexing: Efficient 3-D Object Recognition , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[120]  J. Munkres.  ALGORITHMS FOR THE ASSIGNMENT AND TRANSIORTATION tROBLEMS* , 1957 .

[121]  Jake K. Aggarwal,et al.  Parallelism in computer vision: a review , 1990 .

[122]  Kenneth E. Batcher,et al.  Design of a Massively Parallel Processor , 1980, IEEE Transactions on Computers.

[123]  H. Voelcker,et al.  Solid modeling: current status and research directions , 1983, IEEE Computer Graphics and Applications.

[124]  S. Inokuchi,et al.  Range-imaging system for 3-D object recognition , 1984 .

[125]  Ruzena Bajcsy,et al.  Recovery of Parametric Models from Range Images: The Case for Superquadrics with Global Deformations , 1990, IEEE Trans. Pattern Anal. Mach. Intell..

[126]  Charles L. Seitz,et al.  The cosmic cube , 1985, CACM.

[127]  S. Levialdi,et al.  Languages and architectures for image processing , 1981 .

[128]  James J. Little.  Determining Object Attitude from Extended Gaussian Images , 1985, IJCAI.

[129]  Suchendra M. Bhandarkar,et al.  Hough Clustering Technique for Surface Matching , 1988, MVA.

[130]  H. T. Kung.  Why systolic architectures? , 1982, Computer.

[131]  K. Ikeuchi,et al.  Determining linear shape change: toward automatic generation of object recognition programs , 1989, Proceedings CVPR '89: IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[132]  Jorge L. C. Sanz,et al.  Hypercube and Shuffle-Exchange Algorithms for Image Component Labeling , 1987, J. Algorithms.

[133]  Narendra Ahuja,et al.  EFFICIENT OCTREE GENERATION FROM SILHOUETTES. , 1986 .

[134]  Salvatore J. Stolfo,et al.  The DADO Production System Machine , 1986, J. Parallel Distributed Comput..

[135]  George C. Stockman,et al.  Object recognition and localization via pose clustering , 1987, Comput. Vis. Graph. Image Process..

[136]  Ramesh C. Jain,et al.  Invariant surface characteristics for 3D object recognition in range images , 1985, Comput. Vis. Graph. Image Process..

[137]  A. Bonaert.  Introduction to the theory of Fuzzy subsets , 1977, Proceedings of the IEEE.

[138]  M. J. B. Duff,et al.  Intermediate-level image processing , 1986 .

[139]  Marc H. Raibert,et al.  An all digital VLSI tactile array sensor , 1984, ICRA.

[140]  Hannan Samet,et al.  Region representation: Quadtrees from binary arrays , 1980 .

[141]  Stephen T. Barnard,et al.  A Stochastic Approach to Stereo Vision , 1986, AAAI.

[142]  Ramakant Nevatia,et al.  Segmented descriptions of 3-D surfaces , 1987, IEEE Journal on Robotics and Automation.

[143]  Irene Gargantini,et al.  Linear octtrees for fast processing of three-dimensional objects , 1982, Comput. Graph. Image Process..

[144]  R. Paul.  Robot manipulators : mathematics, programming, and control : the computer control of robot manipulators , 1981 .

[145]  Jean Ponce,et al.  Straight homogeneous generalized cylinders: Differential geometry and uniqueness results , 1988, Proceedings CVPR '88: The Computer Society Conference on Computer Vision and Pattern Recognition.

[146]  Gil J. Ettinger,et al.  Large hierarchical object recognition using libraries of parameterized model sub-parts , 1988, Proceedings CVPR '88: The Computer Society Conference on Computer Vision and Pattern Recognition.

[147]  T. Knoll,et al.  Recognizing partially visible objects using feature indexed hypotheses , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[148]  James L. Crowley.  Dynamic world modeling for an intelligent mobile robot using a rotating ultra-sonic ranging device , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[149]  Ganesh Ramamoorthy.  Model-based tracking using motion from motion , 1992 .

[150]  P. Besl.  Geometric modeling and computer vision , 1988, Proc. IEEE.

[151]  Alex Pentland,et al.  A New Sense for Depth of Field , 1985, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[152]  O. Sasaki,et al.  Analysis of measurement accuracy in sinusoidal phase modulating interferometry. , 1986, Applied optics.

[153]  Russ Miller,et al.  Geometric Algorithms for Digitized Pictures on a Mesh-Connected Computer , 1985, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[154]  David G. Lowe,et al.  Three-Dimensional Object Recognition from Single Two-Dimensional Images , 1987, Artif. Intell..

[155]  S. Shafer.  Shadows and Silhouettes in Computer Vision , 1985 .

[156]  Michel Dhome,et al.  Polyhedra Recognition by Hypothesis Accumulation , 1987, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[157]  Aristides A. G. Requicha,et al.  Algorithms for computing the volume and other integral properties of solids. II. A family of algorithms based on representation conversion and cellular approximation , 1982, CACM.

[158]  Christoph M. Hoffmann,et al.  Geometric and Solid Modeling: An Introduction , 1989 .

[159]  Massimo Maresca,et al.  Polymorphic-Torus Architecture for Computer Vision , 1989, IEEE Trans. Pattern Anal. Mach. Intell..

[160]  Suchendra M. Bhandarkar,et al.  Sensitivity analysis for matching and pose computation using dihedral junctions , 1991, Pattern Recognit..

[161]  Barr,et al.  Superquadrics and Angle-Preserving Transformations , 1981, IEEE Computer Graphics and Applications.

[162]  Billur Barshan,et al.  Differentiating Sonar Reflections from Corners and Planes by Employing an Intelligent Sensor , 1990, IEEE Trans. Pattern Anal. Mach. Intell..

[163]  Ramakant Nevatia,et al.  Recognizing 3-D Objects Using Surface Descriptions , 1989, IEEE Trans. Pattern Anal. Mach. Intell..

[164]  Jake K. Aggarwal,et al.  TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE , 2008 .

[165]  James C. Miller,et al.  Computer graphics principles and practice, second edition , 1992, Comput. Graph..

[166]  B. Julesz,et al.  Human factors and behavioral science: Textons, the fundamental elements in preattentive vision and perception of textures , 1983, The Bell System Technical Journal.

[167]  Jean Ponce,et al.  Invariant Properties of Straight Homogeneous Generalized Cylinders and Their Contours , 1989, IEEE Trans. Pattern Anal. Mach. Intell..

[168]  R. Bajcsy,et al.  Quantitative and qualitative measures for the evaluation of the superquadric models , 1989, [1989] Proceedings. Workshop on Interpretation of 3D Scenes.

[169]  G. T. Reid.  Automatic fringe pattern analysis: A review , 1986 .

[170]  W. Eric L. Grimson,et al.  The Combinatorics Of Object Recognition In Cluttered Environments Using Constrained Search , 1988, [1988 Proceedings] Second International Conference on Computer Vision.

[171]  Anil K. Jain,et al.  Evidence-Based Recognition of 3-D Objects , 1988, IEEE Trans. Pattern Anal. Mach. Intell..

[172]  Anil K. Jain,et al.  MRF model-based segmentation of range images , 1990, [1990] Proceedings Third International Conference on Computer Vision.

[173]  R. Bajcsy,et al.  Three dimensional object representation revisited , 1987 .

[174]  David Elliot Shaw,et al.  SIMD and MSIMD Variants of the NON-VON Supercomputer , 1984, COMPCON.

[175]  Suchendra M. Bhandarkar,et al.  Exploiting parallelism in 3-D object recognition using the connection machine , 1991, Robotics Auton. Syst..

[176]  Benjamin Kuipers,et al.  A Robust, Qualitative Method for Robot Spatial Learning , 1988, AAAI.

[177]  David G. Lowe,et al.  Perceptual Organization and Visual Recognition , 2012 .

[178]  Luciano Pirodda,et al.  Shadow And Projection Moire Techniques For Absolute Or Relative Mapping Of Surface Shapes , 1982 .

[179]  Katsushi Ikeuchi.  Recognition of 3-D Objects Using the Extended Gaussian Image , 1981, IJCAI.

[180]  Howard Jay Siegel.  PASM: A Reconfigurable Multimicrocomputer System for Image Processing. , 1980 .

[181]  Jon A. Webb,et al.  The Warp Machine on Navlab , 1991, IEEE Trans. Pattern Anal. Mach. Intell..

[182]  Avinash C. Kak,et al.  A robot vision system for recognizing 3D objects in low-order polynomial time , 1989, IEEE Trans. Syst. Man Cybern..

[183]  Chris Goad,et al.  Special purpose automatic programming for 3D model-based vision , 1987 .

[184]  Tony Kasvand,et al.  Recognition and positioning of three-dimensional objects by combining matchings of primitive local patterns , 1988, Comput. Vis. Graph. Image Process..

[185]  Janusz S. Kowalik,et al.  Coupling symbolic and numerical computing in expert systems, II : papers from the Workshop on Coupling Symbolic and Numerical Computing in Expert Systems, Bellevue, Washington, U.S.A., 20-22 July, 1987 , 1986 .

[186]  Joachim H. Rieger,et al.  On the classification of views of piecewise smooth objects , 1987, Image Vis. Comput..

[187]  S. L. Tanimoto,et al.  A prototype pyramid machine for hierarchical cellular logic , 1987 .

[188]  M Rioux,et al.  Laser range finder based on synchronized scanners. , 1984, Applied optics.

[189]  Jitendra Malik,et al.  Computing the Aspect Graph for Line Drawings of Polyhedral Objects , 1990, IEEE Trans. Pattern Anal. Mach. Intell..

[190]  Ramesh C. Jain,et al.  Spline-based surface fitting on range images for CAD applications , 1988, Proceedings CVPR '88: The Computer Society Conference on Computer Vision and Pattern Recognition.

[191]  Jonathan H Connell,et al.  Learning Shape Descriptions: Generating and Generalizing Models of Visual Objects , 1985 .

[192]  Gongzhu Hu,et al.  3-D Surface Solution Using Structured Light and Constraint Propagation , 1989, IEEE Trans. Pattern Anal. Mach. Intell..

[193]  Berthold K. P. Horn.  Understanding Image Intensities , 1977, Artif. Intell..

[194]  S. Ullman,et al.  The interpretation of visual motion , 1977 .

[195]  D. G. Wright,et al.  Holography Applied To Inspection And Measurement In An Industrial Environment , 1985 .

[196]  Hanan Samet,et al.  The Design and Analysis of Spatial Data Structures , 1989 .

[197]  Donald Geman,et al.  Stochastic relaxation, Gibbs distributions, and the Bayesian restoration of images , 1984 .

[198]  Wei-Chung Lin,et al.  CSG-based object recognition using range images , 1988, [1988 Proceedings] 9th International Conference on Pattern Recognition.

[199]  L. W. Tucker,et al.  Architecture and applications of the Connection Machine , 1988, Computer.

[200]  Jean Ponce,et al.  Toward a surface primal sketch , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[201]  Donald J. Svetkoff.  Towards a High Resolution, Video Rate, 3D Sensor For Machine Vision , 1987, Other Conferences.

[202]  Jack H. Winters,et al.  Three-Dimensional Ultrasonic Vision for Robotic Applications , 1989, IEEE Trans. Pattern Anal. Mach. Intell..

[203]  Jorge L. C. Sanz,et al.  SIMD architectures and algorithms for image processing and computer vision , 1989, IEEE Trans. Acoust. Speech Signal Process..

[204]  D. J. Langridge.  Detection of discontinuities in the first derivatives of surfaces , 1984 .

[205]  D. Eggert,et al.  Computing the orthographic projection aspect graph of solids of revolution , 1989, [1989] Proceedings. Workshop on Interpretation of 3D Scenes.

[206]  Ronald Lumia,et al.  A pseudo-interferometric laser range finder for robot applications , 1989, IEEE Trans. Robotics Autom..

[207]  J. K. Aggarwal,et al.  Generation of volume/surface octree from range data , 1988, Proceedings CVPR '88: The Computer Society Conference on Computer Vision and Pattern Recognition.

[208]  Martti Mäntylä,et al.  Ray-casting and block model conversion using a spatial index , 1984 .

[209]  Yehezkel Lamdan,et al.  Geometric Hashing: A General And Efficient Model-based Recognition Scheme , 1988, [1988 Proceedings] Second International Conference on Computer Vision.