Segmentation and 3-D recovery of curved-axis generalized cylinders from an intensity image

Addresses the problem of segmentation and recovery of 3-D object-centered descriptions of two large sub-classes of curved axis generalized cylinders, PRCGCs and circular PRGCs, from a single real intensity image. The purpose of this work is to augment the set of 3-D primitives which can be recovered, beyond previous work which has addressed mainly straight axis ones, so that more complex objects can be handled. The authors´ approach is based on the exploitation of geometric projective properties as well as structural properties of the contours of circular PRGCs. The implemented method works in the presence of noise, contour breaks, markings, shadows and occlusion. The authors demonstrate their method on real images