Multisensory scene interpretation: model-based object recognition

The authors propose an approach to generalize the hypothesis and test recognition paradigm for multisensory environments and fairly generic object models. Matching, prediction and localization procedures are based on a generic representation of feature accuracy. This generic approach performs fusion both at the numeric (geometric) and at the symbolic (recognition) levels. Its reliability is illustrated by several real-world examples demonstrating recognition of real objects in complex cluttered environments using four types of sensory data: contour images (two viewpoints), stereovision 3-D line segments, range 3-D faces, and color images