Error propagation in full 3D-from-2D object recognition

TitleError propagation in full 3D-from-2D object recognition
Publication TypeConference Papers
Year of Publication1994
AuthorsAlter TD, Jacobs DW
Conference NameComputer Vision and Pattern Recognition, 1994. Proceedings CVPR '94., 1994 IEEE Computer Society Conference on
Date Published1994/06//
Keywords3D-from-2D, algorithm;, error, extraction;, feature, features;, handling;, image, initial, linear, matches;, object, Programming, programming;, propagation;, recognition, recognition;, robust, sequences;, systems;, Uncertainty, uncertainty;

Robust recognition systems require a careful understanding of the effects of error in sensed features. Error in these image features results in uncertainty in the possible image location of each additional model feature. We present an accurate, analytic approximation for this uncertainty when model poses are based on matching three image and model points. This result applies to objects that are fully three-dimensional, where past results considered only two-dimensional objects. Further, we introduce a linear programming algorithm to compute this uncertainty when poses are based on any number of initial matches