Three Dimensional (3D) Object Recognition

From Range Data

About Connected Component Hierarchy (CCH)

Some Interesting Results.

• Two log trucks one of witch is occluded by the foliage.

• A tank truck (simulating a Soviet SS20).

Movies

Current Work.

CCH, An Object Oriented Data Structure for Connected Component Hierarchy

Summary

Accomplishments - Current Status

• Supplement Objects

  At this time, only one major supplement object is considered. That object, VGeneralList, is a list implementation that is capable of storing list of objects of any given type and size. The implementation is based on the malloc-realloc method. Because of the imminent need for this object in most of the elements of the Object Hierarchy described in the next section, this object has been implemented first.

• Object Hierarchy

  

  For this particular case of the Object Hierarchy, the ``has a'' paradigm is used. Graphical representation of the hierarchy is given in the figure.

  VCell

  This object will contain the basic information from the image pixels, together with values calculated during the process.

  VBorderBit

  The VBorderBit object will hold the smallest border chunk, defined by two adjacent cells with a different label.

  VBitList

  The VBitList object will hold the list of border chunks, defined by two adjacent areas with a different label.

  VBorderSegment

  This object contains, in addition to the instance of the VBitList object, some additional information that is necessary to properly define the border segment between the two areas with different labels.

  VBorder

  In the case of VBorder object, we will have a list of segments that are making the border around the area of the specific label value.

  VRegion

  This object consists of an instance of the VBorder object, paired with two more lists. One is representing the list of the neighboring regions and the other is the list of the regions that comprise this particular one. Note that this definition is leaves room for the recursive definition of the regions at the higher level of the hierarchy. The latter list will be NULL at the bottom level of the hierarchy. This object is significant because here is where we introduce the operator overloading and data hiding. The ``+'' operator is overloaded so that R = R1 + R2 will be a valid statement. This principle can be extended to the lower levels of the object hierarchy if needed. The ``+'' operator will be implemented in such a way that as a result of the operation, a new instance of a VRegion object will be constructed and appropriate segments will be assigned to its border list. The containing regions list will be updated appropriately.

  

  A region consists of a list of segments.

  VRegionList

  In this object, list of regions with a particular property will be stored. At first, that can be a list of a regions that satisfy a certain ``level'' tracshold. Later on, some other criterion can be added such as region value, position, etc. In this case as well, operator overloading and data abstraction can be readily employed.

  VHierarchy

  Optionally, this object can come on top of the VRegionList object. It will hold a list of VRegionList's instances for each value of the variable with which a data structure is indexed. And that, again, can be done for different indexes.

  Data structure hierarchy.

• Conclusion

  This approach will contribute directly to the image processing aspect of the method. It will give a clean, consistent and easy extendable data structure. In addition to this, the data structure will contribute to the future work that will be based on, and expand from, CC method.

• Notes

  Many thanks to Ms. Claudia Rodriguez for her useful comments.

AVS

Also, you can try to look at some AVS Training Materials. You can also try The UK Shadow of the AVS Module Repository .

Source code.