A quadratic surface can be expressed with 3 scalar invariants as shape parameter and a transformation matrix as pose parameter. Surface representation is insensitive to partial occlusions. Quadratic surface patch correspondence by their invariants can be performed very efficiently (in O(log2 n) time, where n is the number of quadratic surface patches in one object). After matching of patches, the position and orientation between the two matched patches can be determined by the pose matrices and used as rigidity constraint for object recognition. Various degenerate cases are analyzed. Experimental results are provided using synthetic range data with Gaussian noise.
KeywordsObject Recognition Transformation Matrix Object Model Rotation Matrix Degenerate Case
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