Robot vision using object models for recognition strategy generation and precise localization

A vision system that automatically generates an object recognition strategy from a 3D model and recognizes the object by this strategy is presented. In this system, the appearances of an object from various view directions are described with 2D features, such as parallel lines and ellipses. These appearances are then ranked, and a tree-like strategy graph is generated. It shows an efficient feature search order when the viewer direction is unknown. The object is recognized by feature detection guided by the strategy. After the features are detected, the system compares the line representation generated from a 3D model and the image features to localize the object. Perspective projection is used in the localization process to obtain the precise position and attitude of the object, while orthographic projection is used in the strategy generation process to allow symbolic manipulation