Model-Based Interpretation of Range Imagery

Darwin T. Kuan, Robert J. Drazovich

This paper describes a model-based approach to interpreting laser range imagery. It discusses the object modeling, model-driven prediction, and feature-to-model matching aspects of the problem. The model objects are represented by a viewpoint- independent volumetric model based on generalized cylinders. Predictions of 3-D image features and their relations are generated from object models on multiple levels. These predictions give guidance for goal-directed shape extraction from low level image features. Interpretation proceeds by compar- ing the extracted image features with object models in a coarse to fine hierarchy. Since the 3-D information is available from the range image, the actual measurements are used for feature-to-model ma tch ing . A limited prototype system has been developed, preliminary results on prediction and interpretation are shown, and future research directions are discussed.


This page is copyrighted by AAAI. All rights reserved. Your use of this site constitutes acceptance of all of AAAI's terms and conditions and privacy policy.