Using Automatically Constructed View-Independent Relational Model in 3d Object Recognition

This paper describes and demonstrates a view-independent relational model (VIRM) in a vision system designed for recognising a known 3D object from single monochromatic images. The aim is to derive a model of an object able to effect recognition without invoking pose information. The system inspects a CAD model of the object from a number of different viewpoints to identify relatively view-independent relationships among component parts of the object. These relations are represented in the form of a hypergraph. The VIRM can be searched using a best-first technique to obtain hypotheses of vehicle poses which match image features.