3D Corner Detection and Matching for Manmade Scene/Object Structure Cognition

In this paper, we describe a novel framework for 3D corner detection and matching. The proposed method is based on the assumption that the viewed scene contains definite planar surfaces. The contribution of our method is the integration of constraints imposed by the existing planes and the local feature matches to achieve improved plane decomposition and also optimal feature grouping. We describe the foundation of the framework and show how it can be employed in applications including 3D reconstruction, plane extraction and robot navigation. The effectiveness of our framework is validated through experimentations on synthetic 3D object and real architecture images.