3‐D object recognition using functional models

Abstract

Abstract Many human activities are based on visual recognition of a scene. Development of scene recognition capability on computer is essential to the development of an intelligent robot. This paper proposes a three‐dimensional (3‐D) object recognition system using functional models. In conventional geometric model‐based recognition, one reference model must be provided for each possible object shape in the same category. This paper proposes a functional model that will allow flexibility in representation of objects belonging to the same category. Experiments were conducted to provide measurement data for demonstrating this functional model‐based object recognition technique. Scene segmentation uses both gray scale image and range image to provide superior segmentation results. The performance of a functional model‐based method for recognizing objects with different shapes that belong to the same functional category is demonstrated.