Automatic generation of object recognition programs

Issues and techniques are discussed to automatically compile object and sensor models into a visual recognition strategy for recognizing and locating an object in three-dimensional space from visual data. Automatic generation of recognition programs by compilation, in an attempt to automate this process, is described. An object model describes geometric and photometric properties of an object to be recognized. A sensor model specifies the sensor characteristics in predicting object appearances and variations of feature values. It is emphasized that the sensors, as well as objects, must be explicitly modeled to achieve the goal of automatic generation of reliable and efficient recognition programs. Actual creation of interpretation trees for two objects and their execution for recognition from a bin of parts are demonstrated. >

[1]  Gilbert Falk,et al.  Interpretation of Imperfect Line Data as a Three-Dimensional Scene , 1970, Artif. Intell..

[2]  M. Ejirl,et al.  Direction Coding Method And Its Application To Scene Analysis , 1975, IJCAI.

[3]  Masakazu Ejiri,et al.  Direction coding method and its application to scene analysis , 1975, IJCAI 1975.

[4]  W. A. Perkins.  Model-Based Vision System for Scenes Containing Multiple Parts , 1977, IJCAI.

[5]  Robert J. Woodham,et al.  Reflectance map techniques for analyzing surface defects in metal castings , 1978 .

[6]  K. Tomiyasu,et al.  Tutorial review of synthetic-aperture radar (SAR) with applications to imaging of the ocean surface , 1978, Proceedings of the IEEE.

[7]  C. M. Brown.  Fast display of well-tesselated surfaces , 1979, Comput. Graph..

[8]  Kokichi Sugihara,et al.  Automatic Construction of Junction Dictionaries and Their Exploitation for the Analysis of Range Data , 1979, IJCAI.

[9]  Makoto Nagao,et al.  A Structural Analysis of Complex Aerial Photographs , 1980, Advanced Applications in Pattern Recognition.

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

[11]  Dana H. Ballard,et al.  Generalizing the Hough transform to detect arbitrary shapes , 1981, Pattern Recognit..

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

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

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

[15]  Thomas O. Binford,et al.  Survey of Model-Based Image Analysis Systems , 1982 .

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

[17]  J. Canny.  Finding Edges and Lines in Images , 1983 .

[18]  Katsushi Ikeuchi.  Determining Attitude of Object From Needle Map Using Extended Gaussian Image , 1983 .

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

[20]  Berthold K. P. Horn,et al.  Determining Grasp Points Using Photometric Stereo and the PRISM Binocular Stereo System , 1984 .

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

[22]  Berthold K. P. Horn.  Extended Gaussian images , 1984, Proceedings of the IEEE.

[23]  John P. McDermott,et al.  Rule-Based Interpretation of Aerial Imagery , 1984, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[24]  Yoshiaki Shirai,et al.  A Model-based Recognition of Glossy objects using Their Polarizational Properties* , 1985 .

[25]  Takeo Kanade,et al.  Stereo by Intra- and Inter-Scanline Search Using Dynamic Programming , 1985, IEEE Transactions on Pattern Analysis and Machine Intelligence.

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

[27]  Charles R. Dyer,et al.  Model-based recognition in robot vision , 1986, CSUR.

[28]  Katsushi Ikeuchi,et al.  Determining Grasp Configurations using Photometric Stereo and the PRISM Binocular Stereo System , 1986 .

[29]  Katsushi Ikeuchi,et al.  Determining a Depth Map Using a Dual Photometric Stereo , 1987 .

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

[31]  Yoshiaki Shirai,et al.  A model-based recognition of glossy objects using their polarimetrical properties , 1987, Adv. Robotics.

[32]  Takeo Kanade,et al.  Vision and Navigation for the Carnegie-Mellon Navlab , 1987 .

[33]  Takeo Kanade,et al.  Applying Sensor Models To Automatic Generation Of Object Recognition Programs , 1988, [1988 Proceedings] Second International Conference on Computer Vision.

[34]  Takeo Kanade,et al.  Modeling sensors and applying sensor model to automatic generation of object recognition program , 1988 .

[35]  Takeo Kanade,et al.  Model-Based Vision System by Object-Oriented Programming , 1988 .