Modeling and Recognizing Three-Dimensional Curved Objects

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This is the first year of a three-year continuing award. The research explores computer vision for recognition of three- dimensional curved objects. A new technique for object modeling and recognition will be developed, based on representing objects by discrete meshes of points, and mapping of the meshes to a spherical representation. The algorithms developed in this project reduce the problem of matching and pose determination to one of finding the best rotation between two spherical maps. This is done without using any combinatorial search. These algorithms lead to a robust and computationally deterministic approach to object recognition. By removing most of the shape constraints imposed by conventional methods, they make object recognition possible in a wider range of applications. Finally, by allowing for shape matching in the presence of occlusions, they remove a major limitation of existing approaches based on spherical representations.