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Reconnaissance et modélisation d'objets 3D à l'aide d'invariants projectifs et affines

Bart Lamiroy 1
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : This work belongs to the class of appearance based object modeling and recognition through local descriptors. In a first stage, we use a line approximation of contour-segmented images. The line approximation allows us to extract quasi-invariants. Quasi-invariants have the particularity of being robust to moderate viewpoint changes. By storing them in an appropriate structure on the one hand, and by modeling 3D objects by a series of 2D views on the other hand, we show that it is possible to recognize objects from any viewpoint. This recognition is obtained in two steps. First, local quasi-invariants are matched between the image and the models by using an indexing technique. Second, a global verification step, expressing a geometric coherence between the found matches, allows us to filter out incorrect ones and to select the closest model. Limitations in the extraction and the descriptive power of the considered local descriptors have pushed us towards a new approach, combining our method with a whole class of existing local appearance based solutions. The included experimental results provide a complete validation of our method. In a second stage we analyze the computational complexity inherent to the indexing methods described in the first part. We give formal proof showing that indexing is not adapted to local recognition methods as soon as the descriptors are represented in too high a dimension. Complexity is such that, in certain cases, sequential comparison with the known models and their descriptors is faster than indexing. We show which cases are concerned and give indications on how to avoid them.
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https://tel.archives-ouvertes.fr/tel-00004894
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Submitted on : Thursday, February 19, 2004 - 3:09:33 PM
Last modification on : Monday, December 28, 2020 - 3:44:02 PM
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  • HAL Id : tel-00004894, version 1

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Bart Lamiroy. Reconnaissance et modélisation d'objets 3D à l'aide d'invariants projectifs et affines. Modélisation et simulation. Institut National Polytechnique de Grenoble - INPG, 1998. Français. ⟨tel-00004894⟩

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