On the Recognition of Curved Objects
Determining the identity and pose of occluded objects from noisy data is a critical part of a system's intelligent interaction with an unstructured environment. Previous work has shown that local measurements of the position and surface orientation of small patches of an object's surface may be used in a constrained search process to solve this problem for the case of rigid polygonal objects using two-dimensional sensory data, or rigid polyhedral objects using three-dimensional data. This note extends the recognition system to deal with the problem of recognizing and locating curved objects. The extension is done in two dimensions, and applies to the recognition of two-dimensional objects from two-dimensional data, or to the recognition of three-dimensional objects in stable positions from two- dimensional data.