Robotics and Computer Vision Lab

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저 자 Kyoungsig Roh, In So Kweon
학 회 Pattern Recognition
논문일시(Year) 2000
논문일시(Month) 01
Vol. 33 (5), pp. 741-754

We propose a new method for recognizing three-dimensional objects using a three-dimensional invariant relationship
and geometric hashing by single-view. We develop a special structure consisting of four co-planar points and any two
non-planar points with respect to the plane. We derive an invariant relationship for the structure, which is represented by
a plane equation. For the recognition of three-dimensional objects using the geometric hashing, a set of points on the
plane, thereby satisfying the invariant relationship, are mapped into a set of points intersecting the plane and the unit
sphere. Since the structure is much more general than the previous structures proposed by Rothwell et al. (Oxford
University TR-OUEL 1927/92, 1992) and Zhu et al. (Proceedings of the 12th International Conference on Robotics and
Automation, Nagoya, Japan, 1995, pp. 1726}1731), it gives enough many voting to generate hypotheses. We also show
that from the proposed invariant relationship, an invariant for the structure by two-view and an invariant for a structure
proposed by Zhu et al. (Proceedings of the 12th International Conference on Robotics and Automation, Nagoya,
Japan, 1995, pp. 1726}1731) can also be derived. Experiments using three-dimensional polyhedral objects are carried out
to demonstrate the feasibility of our method for three-dimensional objects.

List of Articles
» 3D object recognition using a new invariant relationship by single view
Kyoungsig Roh, In So Kweon
Pattern Recognition 2000 / 01
19. Hybrid hierarchiecal motion estimation under illumination variations
Youngsu Moon, In So Kweon
Electonics Letters 2000 / 03
18. Robust direct motion estimation considering discontinuity
Jongeun Ha, In So Kweon
Pattern Recognition Letters 2000 / 11
17. A novel stereo camera system by a biprism
Doohyun Lee, In So Kweon
IEEE Transactions on Robotics and Automation 2000 / 10
16. Self-localization of a mobile robot without camera calibration using projective invariants
Wangheon Lee, In So Kweon
Pattern Recognition Letters 2000 / 01
15. A new calibration algorithm using known angles
Jongeun Ha, In So Kweon
Electronics Letters 2000 / 01
14. A Fast and stable snake algorithm for medical images
Dongjoong Kang, In So Kweon
Pattern Recognition Letters 1999 / 05
13. A fast and stable method for detecting and tracking medical organs in MRI sequences
Dongjoong Kang, Changyeong Kim, Seo Yang-Seok, In So Kweon
IEICE Transactions on Information and Systems 1999 / 02
12. Perceived Illumination Measured
Changyeong Kim, S. Petrov, Seo Yang-Seok, In So Kweon
Color Research and Application 1998 / 01
11. 2-D object recognition using invariant contour descriptor and projective refinement
Kyoungsig Roh, In So Kweon
Pattern Recognition 1998 / 05
10. Map-based probabilistic reasoning to vehicle segmentation
Joonwoong Lee, In So Kweon
Pattern Recognition 1998 / 12
9. 2-D curved shape recognition using a local curve descriptor and projective refinement
Kyoungsig Roh, In So Kweon
IEICE Transactions on Information and Systems 1998 / 05
8. Illuminant direction and shape of a bump
Changyeong Kim, A.P.Petrov, Choh Heui-Keun, Seo Yang-Seock, In So Kweon
Journal of the Optical Society of America - A - Optics Image Science and Vision 1998 / 01
7. Extraction of line features in a noisy image
Joonwoong Lee, In So Kweon
Pattern Recognition 1997 / 06
6. Color and printer models for color halftoning
Changyeong Kim, In So Kweon
Journal of Electronic Imaging 1997 / 04
5. Image Point Matching by Triangulation
Joonwoong Lee, In So Kweon
Intelligent Automation and Soft Computing 1997 / 01
4. Group-based multi agent system configuration for mobile robot navigation
M. Watanabe, K. Onoguchi, Y. Kuno, In So Kweon
Japan Journal of Robot 1995 / 04
3. Extracting topographic terrain features from elevation maps
In So Kweon, T. Kanade
Computer Vision, Graphics and Image Understanding 1994 / 03
2. Sonar-based behaviors for behavior-based mobile robots
In So Kweon, K. Onoguchi, M. Watanabe
IEICE Transactions on Information and Systems 1993 / 04
1. High resolution terrain map from multiple sensor data
In So Kweon, T. Kanade
Special Issue on 3-D Vision of IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI) 1992 / 02
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