3D modelling and indexing for CAD-based object recognition

A 3D object recognition system for parts designed with a form feature CAD is presented. Objects are modelled as organized compositions of instantiated form primitives. Because of this, the burden of part recognition is shifted from matching the scene to the part database to matching the scene to the primitive database, which is usually a significantly smaller database. In this paper we briefly review our approach to primitive and object representation, the architecture of the system, hypotheses generation, and primitive indexing. Results obtained wish both synthetic and actual range images are presented