Model based recognition using pruned correspondence search

A polynomial time algorithm is presented (pruned correspondence search, PCS) with good average case complexity for solving a wide class of geometric maximal matching problems, including the problem of recognizing 3-D objects from a single 2-D image. The PCS algorithm is connected with the geometry of the underlying recognition problem only through calls to a verification algorithm. Efficient verification algorithms are given for the case of affine transformations among vector spaces and for the case of rigid 2-D and 3-D transformations with scale. Among the known algorithms that solve the bounded error recognition problem exactly and completely, the PCS algorithm currently has the lowest complexity. Some preliminary experiments suggest that PCS is a practical algorithm