3D Object Recognition and 2-Simplex Meshes

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Presentation transcript:

3D Object Recognition and 2-Simplex Meshes By Gerald Dalley

Overview Some popular 3D object recognition techniques Appearance-based matching Feature matching Regular mesh tesselation 2-Simplex Meshes Spherical Attribute Images For further reading 1 May 2001 3D Vehicle Recognition

Popular Recognition Techniques: Appearance-Based Matching Basic steps Sample a view-sphere Record feature measurements as observable from a camera at each view-sphere sample point (create templates) Compare observed data with each template from each model Choose the model and orientation that provides the best match Requires sufficiently fine sampling of the view sphere 1 May 2001 3D Vehicle Recognition

Popular Recognition Techniques: Feature Matching Ravi’s work, Rick’s local features Basic steps Find features invariant to rotation and translation Build an attributed graph Nodes: features Arcs: spatial arrangement Choose the model whose graph is most similar 1 May 2001 3D Vehicle Recognition

Popular Recognition Techniques: Regular Mesh Tesselation “Regularly” sample the mesh Square grid Triangularization 2-Simplex Measure feature values at mesh vertices Vertex-by-vertex comparison Image from [3] 1 May 2001 3D Vehicle Recognition

2-Simplex Meshes Dual of triangularization Triangle face  simplex vertex Triangle vertex  simplex face 1 May 2001 3D Vehicle Recognition

2-Simplex Meshes: Two Examples 1 May 2001 3D Vehicle Recognition

2-Simplex Meshes: Topological & Geometric Modifications f1 and f3 merged f4 f2 f1 V1 f2 f4 V2 f3 f1 V1' Edge Swap f4 f2 Edge Removal V2' f3 1 May 2001 3D Vehicle Recognition

2-Simplex Meshes: Edge Removal Example 1 May 2001 3D Vehicle Recognition

Spherical Attribute Images SAI: Point size  vertex curvature 2D Contour 1-Simplex Mesh 1 May 2001 3D Vehicle Recognition

Spherical Attribute Images: 2D SAI Examples 1 May 2001 3D Vehicle Recognition

Spherical Attribute Images: Recognition 1 May 2001 3D Vehicle Recognition

Further Reading 1 May 2001 3D Vehicle Recognition