On the recognition of curved objects

The problem of determining the identity and pose of occluded objects from noisy data is examined. Previous work has shown that local measurements of the position and surface orientation of small patches of an object´s surface may be used in a constrained search process to solve this problem, for the case of rigid polygonal objects using 2-D sensory data, or rigid polyhedral objects using 3-D data. The recognition system is extended to recognize and locate curved objects. The extension is done in two dimensions, and applies to the recognition of 2-D objects from 2-D data, or to the recognition of the 3-D objects in stable positions from 2-D data