On the Use of Topological Constraints within Object Recognition Tasks

The context of this contribution is the recognition and localization of a priori known 3D objects from single intensity images. The most difficult task is to establish appropriate correspondences between model and image features. The ranking of correspondences typically is based on properties of the features themselves as well as relations between the features. Useful relations can be derived from the topology of model features. This contribution focuses on the improvement of an existing object recognition system using binary topological constraints on model and image lines. A propagation mechanism decreases the impact of broken image lines on the underlying topological relations. Experiments with several objects show the usability of the proposed approach. 1. Introduction The model based recognition and localization of a priori known 3D objects from intensity images is the basis for many computer vision applications, e.g., the grasping of workpieces, navigation,or surveillance and in..