Evidence gathering for line based recognition by real plane

  • 이재규 (성균관대학교 지능시스템 연구센터) ;
  • 류문욱 (성균관대학교 정보통신공학부) ;
  • 이장원 (성균관대학교 정보통신공학부)
  • Published : 2008.02.13

Abstract

We present an approach to detect real plane for line base recognition and pose estimation Given 3D line segments, we set up reference plane for each line pair and measure the normal distance from the end point to the reference plane. And then, normal distances are measured between remains of line endpoints and reference plane to decide whether these lines are coplanar with respect to the reference plane. After we conduct this coplanarity test, we initiate visibility test using z-buffer value to prune out ambiguous planes from reference planes. We applied this algorithm to real images, and the results are found useful for evidence fusion and probabilistic verification to assist the line based recognition as well as 3D pose estimation.

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