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Virtual Journal for Biomedical Optics

Virtual Journal for Biomedical Optics


  • Editors: Andrew Dunn and Anthony Durkin
  • Vol. 7, Iss. 2 — Feb. 1, 2012

Probabilistic 3D object recognition and pose estimation using multiple interpretations generation

Zhaojin Lu and Sukhan Lee  »View Author Affiliations

JOSA A, Vol. 28, Issue 12, pp. 2607-2618 (2011)

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This paper presents a probabilistic object recognition and pose estimation method using multiple interpretation generation in cluttered indoor environments. How to handle pose ambiguity and uncertainty is the main challenge in most recognition systems. In order to solve this problem, we approach it in a probabilistic manner. First, given a three-dimensional (3D) polyhedral object model, the parallel and perpendicular line pairs, which are detected from stereo images and 3D point clouds, generate pose hypotheses as multiple interpretations, with ambiguity from partial occlusion and fragmentation of 3D lines especially taken into account. Different from the previous methods, each pose interpretation is represented as a region instead of a point in pose space reflecting the measurement uncertainty. Then, for each pose interpretation, more features around the estimated pose are further utilized as additional evidence for computing the probability using the Bayesian principle in terms of likelihood and unlikelihood. Finally, fusion strategy is applied to the top ranked interpretations with high probabilities, which are further verified and refined to give a more accurate pose estimation in real time. The experimental results show the performance and potential of the proposed approach in real cluttered domestic environments.

© 2011 Optical Society of America

OCIS Codes
(100.0100) Image processing : Image processing
(100.5010) Image processing : Pattern recognition
(150.0150) Machine vision : Machine vision
(330.0330) Vision, color, and visual optics : Vision, color, and visual optics

ToC Category:
Image Processing

Original Manuscript: June 3, 2011
Revised Manuscript: September 10, 2011
Manuscript Accepted: October 7, 2011
Published: November 18, 2011

Virtual Issues
Vol. 7, Iss. 2 Virtual Journal for Biomedical Optics

Zhaojin Lu and Sukhan Lee, "Probabilistic 3D object recognition and pose estimation using multiple interpretations generation," J. Opt. Soc. Am. A 28, 2607-2618 (2011)

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