Unrestricted recognition of 3D objects for robotics using multilevel triplet invariants.

From: AI Magazine | Date: June 22, 2004| Author: Granlund, Gosta H.; Moe, Anders | Copyright information

A method for unrestricted recognition of three-dimensional objects was developed. By unrestricted, we imply that the recognition will be done independently of object position, scale, orientation, and pose against a structured background. It does not assume any preceding segmentation or allow a reasonable degree of occlusion. The method uses a hierarchy of triplet feature invariants, which are at each level defined by a learning procedure. In the feedback learning procedure, percept...

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