Real-time Object Recognition in Sparse Range Images Using Error Surface Embedding

Abstract

A novel object recognition algorithm is introduced to identify objects and recover their pose from sparse range data. The method is based upon comparing the 7-D error surfaces of objects in various poses, which result from the registration error function between two convolved surfaces. The objects and their pose values are encoded by a small set of feature… (More)
DOI: 10.1007/s11263-009-0276-3

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