Model-based recognition and motion tracking depends upon the ability to solve for projection and model parameters that will best fit a 3-D model to matching 2-D image features. This paper extends current methods of parameter solving to handle objects with

theAcronymsystem[3],inwhichalmosteverydimensionoftheobjectisvariable.

Whilethispaperextendsthemodelingandparametersolvingcomponentsofavisionsys-temsothattheycanworkwithcurvedobjects,thereisstillmuchresearchtobedoneregardinglow-levelcurvesegmentationandgrouping.Theauthorhasdevelopedsomemulti-scalecurvesmoothingmethods[23]thatwouldbesuitablefortheinitialcurvedescription,butmuchre-mainstobedoneatthelevelofgroupingandindexinginordertoproduceafullygeneralsystemforrecognitionofcurvedobjects.Bymakinguseofpropertiessuchascurvature,smoothnessandhigher-levelgroupings,itshouldbepossibletomakemajorgainsinthereliabilityofmatch-ing.

References

[1]Binford,ThomasO.,“Visualperceptionbycomputer,”IEEESystemsScienceandCybernetics

Conference,Miami(1971).

[2]Bray,AlistairJ.,“Trackingobjectsusingimagedisparities,”ImageandVisionComputing,8,1

(1990),4–9.

[3]Brooks,RodneyA.,“Symbolicreasoningamong3-Dmodelsand2-Dimages,”Arti cialIntelli-

gence,17(1981),285-348.

[4]Dhome,M.,M.Richetin,prest´e,andG.Rives,“Determinationoftheattitudeof3-Dobjects

fromasingleperspectiveview,”IEEEPAMI,11,12(1989),1265–78.

[5]Faugeras,O.D.,andM.Hebert,“Therepresentation,recognitionandlocatingof3-Dobjects,”The

InternationalJournalofRoboticsResearch,5,3(1986),27–52.

[6]Fischler,MartinA.andRobertC.Bolles,“Randomsampleconsensus:Aparadigmformodel

ttingwithapplicationstoimageanalysisandautomatedcartography,”CommunicationsoftheACM,24,6(1981),381-395.

[7]Goad,Chris,“Specialpurposeautomaticprogrammingfor3Dmodel-basedvision,”inFromPixels

toPredicates,ed.AlexPentland,(AblexPublishingCo.,1986),371-391.

[8]Goldberg,RobertR.,andDavidG.Lowe,“Veri cationof3-Dparametricmodelsin2-Dimage

data,”Proc.ofIEEEWorkshoponComputerVision,Miami(November1987),pp.255-257.

[9]Golub,GeneH.,andCharlesF.VanLoan,MatrixComputations,2ndEdition,TheJohnsHopkins

UniversityPress,Baltimore(1989).

[10]Grimson,Eric,andThom´asLozano-P´erez,“Model-basedrecognitionandlocalizationfromsparse

rangeortactiledata,”Int.JournalofRoboticsResearch,3(1984),3-35.

[11]Haralick,R.M.,H.Joo,C.Lee,X.Zhuang,V.G.Vaidya,andM.B.Kim,“Poseestimationfrom

correspondingpointdata,”IEEETrans.onSystems,ManandCybernetics,19,6(1989),1426–1446.

20