Parallel hypothesis verification

The verification of identifying and pose hypotheses in model-based 3D object recognition systems can involve a time-consuming image rendering operation followed by pixel-level comparison of the input and rendered images. In situations where many such hypotheses need to be verified, exploitation of inherent data-parallelism between hypotheses and their corresponding object models can increase the efficiency of the object recognition system. The authors describe a prototype system for distribution of hypotheses and the accompanying rendering tasks to individual processors in a loosely-coupled computing environment, and demonstrate excellent performance improvements over a single-processor implementation.<>