Recognition of polyhedral objects using triangle pair features

The authors consider the problem of model-based recognition of polyhedral objects from a single perspective view. A hypothesise-verify paradigm based on the use of high level knowledge constraints derived from local shape properties is presented. In the recognition system, two high level features, namely triangle pair and quadrilateral are employed as key features for model invocation and hypothesis generation. A verification process for performing a detailed check on the model to scene correspondences is developed. Two geometrical constraints, namely distance and angle constraints are employed. A list of closed polygons and C-triple pairs extracted from a 2D intensity image by means of edge and intermediate feature detection process is used as an input to the matching system. The intermediate feature grouping process starts by identifying junctions and forming triples which are then scanned by a procedure which connects them into meaningful geometric structures. Extensive experimental results are reported.<>