Abstract
A new method of locating partially visible two-dimensional objects is presented. The method is applicable to complex industrial parts that may contain several occurrences of local features, such as holes and corners. The matching process utilises clusters of mutually consistent features to hypothesise objects, also uses templates of the objects to verify these hypotheses. The technique is fast because it concentrates on key features that are automatically selected on the basis of a detailed analysis of CAD-type models of the objects. The automatic analysis applies general-purpose routines for building and analysing representations of clusters of local features that could be used in procedures to select features for other locational strategies. These routines include algorithms to compute the rotational and mirror symmetries of objects in terms of their local features.
Reprinted by permission from Robotics Research, Vol. 1 No. 3-copyright 1982 The Massachusetts Insitute of Technology.
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© 1983 Springer-Verlag Berlin Heidelberg
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Bolles, R.C., Cain, R.A. (1983). Recognising and Locating Partially Visible Objects: The Local-Feature-Focus Method. In: Pugh, A. (eds) Robot Vision. International Trends in Manufacturing Technology. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-09771-7_4
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DOI: https://doi.org/10.1007/978-3-662-09771-7_4
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