Research Initiation: CSG-Based 3-D Object Recognition UsingRange Images

本研究的目的是发展理论和算法 为了实现基于构造性立体几何（CSG）的3D 物体识别系统 所提出的系统从分段开始 将距离图像中的对象分解为原始曲面片。 然后 基元曲面片被分类为基元曲面 体积，如球体、圆柱体、立方体或圆锥体。 此外该 估计这些基元的尺度、位置和取向。 上的集合运算的顺序和类型 这些原始人。 这将使用优先级图来完成 描述操作的顺序。 通过以下方式获得认可 将导出的优先图与数据库中的优先图进行匹配。 研究结果为CAD与 视觉数据库，并帮助推进自动化技术， 制造系统。

The objective of this research is to develop the theory and algorithms for implementation of a constructive solid geometry (CSG) based 3-D object recognition system. The proposed system starts with segmenting an object in a range image into primitive surface patches. Then, the primitive surface patches are classified as surfaces of primitive volumes such as spheres, cylinders, cubes, or cones. In addition, the scales, locations, and orientations of these primitives are estimated. The next step is to determine the order and types of set operations on these primitives. This will be done using a precedence graph describing the order of operations. Recognition is achieved by matching the derived precedence graph with those in the database. Results of this research should provide a means to unify CAD and vision databases and help to advance the technology of automated manufacturing systems.