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Journal of Inforamtion Science and Engineering, Vol.17 No.3, pp.347-369 (May 2001)

Combining Morphological Feature Extraction
and Geometric Hashing for Three-Dimensional Object
Recognition Using Range Images

Chu-Song Chen, Yi-Ping Hung and Ja-Ling Wu
Institute of Information Science
Academia Sinica
Taipei, Taiwan 115, R.O.C.
+Department of Computer Science and Information Engineering
National Taiwan University
Taipei, Taiwan 116, R.O.C.

This paper presents a new approach for model-based object recognition with range images by combining morphological feature extraction and geometric hashing. In low-level processing, range images are segmented into 3D-connected surface patches. In middle-level processing, each connected component is processed by using morphological operations to extract the skeletons of high-variation regions. These skeleton points can be viewed as invariant salient feature primitives. In high-level processing, geometric hashing is used to recognize objects. We also use a basis-similarity constraint to reduce the number of spurious hypotheses. Experimental results have shown that the proposed method is effective and has great potential for model-based object recognition using range images.

Keywords: computer vision, object recognition, range image processing, feature extraction, geometric hashing

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Received August 29, 1998; revised September 30 & December 2, 1999; accepted January 18, 2000.
Communicated by Shing-Tsaan Huang.