Invariant Extraction and Segmentation of 3D Objects Using Linear Lie Algebra Models

Masaki SUZUKI  Jinhui CHAO  

IEICE TRANSACTIONS on Information and Systems   Vol.E85-D   No.8   pp.1306-1313
Publication Date: 2002/08/01
Online ISSN: 
Print ISSN: 0916-8532
Type of Manuscript: PAPER
Category: Image Processing, Image Pattern Recognition
3D object recognation,  Hough transform,  segmentation,  invariant,  Lie algebra model,  

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This paper first presents robust algorithms to extract invariants of the linear Lie algebra model from 3D objects. In particular, an extended 3D Hough transform is presented to extract accurate estimates of the normal vectors. The Least square fitting is used to find normal vectors and representation matrices. Then an algorithm of segmentation for 3D objects is shown using the invariants of the linear Lie algebra. Distributions of invariants, both in the invariant space and on the object surface, are used for clustering and edge detection.