We propose a new method for recognizing three-dimensional objects using a three-dimensional invariant relationship for a special structure and geometric hashing by single-view. We use a special structure consisting of four co-planar points and any two non-coplanar points with respect to the plane. We derive and invariant relationship for the structure, which is represented by a plane equation. For recognition of 3-D objects using geometric hashing, a set of points on the plane is mapped into a set of points intersectiong the plane and the unit sphere, thereby satisfying the invariant relationship. Because the structure is much more general than these previously structures proposed by Rothwell et al. [1] and Zhu et al. [2,3], it gives enough many voting to generate hypotheses.
Experiments using 3-D polyhedral objects are carrid out to demonstrate the feasivility of our method for 3-D object recognition.