Efficient data structures for model-based 3-D object recognition and localization from range images

An effective method of surface characterization of 3D objects using surface curvature properties and an efficient approach to recognizing and localizing multiple 3D free-form objects (free-form object recognition and localization) are presented. The approach is surface based and is therefore not sensitive to noise and occlusion, forms hypothesis by local analysis of surface shapes, does not depend on the visibility of complete objects, and uses information from a CAD database in recognition and localization. A knowledge representation scheme for describing free-form surfaces is described. The data structure and procedures are well designed, so that the knowledge leads the system to intelligent behavior. Knowledge about surface shapes is abstracted from CAD models to direct the search in verification of vision hypotheses. The knowledge representation used eases processes of knowledge acquisition, information retrieval, modification of knowledge base, and reasoning for solution