Facultad de Ingenieria, University of Buenos Aires, Buenos Aires, Argentina.
IEEE Trans Pattern Anal Mach Intell. 1984 Apr;6(4):430-41. doi: 10.1109/tpami.1984.4767548.
An approach to object location and orientation estimation is discussed in which objects in 3-D space are approximated by chunks of spheres, cylinders, and planes. The surface-shape parameters of these chunks of primitive subobjects are estimated in real time from a single 2-D image assuming a Lambertian reflection model. This processing is realized by partitioning an image into small square windows and processing the windows in parallel. It is assumed that a small window views a portion of one of the spherical, cylindrical or planar chunks. The paper applies standard statistical estimators in new ways to the estimation of the 3-D shape parameters for spherical and cylindrical surfaces. Linear regression and scatter matrix eigenvalue analysis techniques are used here. The algorithms are computationally simple yet are robust and can handle noisy highly variable data.
本文讨论了一种目标位置和方向估计方法，其中 3D 空间中的物体被近似为球体、圆柱体和平面的块。这些基本子物体的表面形状参数是根据朗伯反射模型从单个 2D 图像实时估计的。该处理通过将图像划分为小正方形窗口并并行处理窗口来实现。假设一个小窗口查看球形、圆柱形或平面块的一部分。本文以新的方式将标准统计估计器应用于球形和圆柱形表面的 3D 形状参数估计。这里使用了线性回归和散列矩阵特征值分析技术。这些算法计算简单，但稳健，能够处理噪声大、变化大的数据。
