Object Recognition in Multisensory Scene Analysis
SRI International Menlo Park United States
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A perception strategy for recognizing an object on the basis of color and range data is illustrated by finding a desk in an office scene. Geometrical models of objects such as a desk, a chair, and a glass are described by transformation using scaling, rotation, and translation matrices of primitive surfaces unit cube, sphere, and cylinder. Animage-bounding window for the acquisition element of an object is based on range data. Image bounding windows are derived for four cases in which single and multiple acquisition elements are oriented vertically and horizontally.