In the field of computer vision, object recognition and spatial
relationship evaluation are useful in creating a scene identification
system. This paper examines object pair matching within LADAR (Laser
Radar) imagery. By manipulating the three-dimensional data contained
within a LADAR range image, it is possible to create a version of the
scene as seen from above. In the transformed view, each object is
represented by a fuzzy region, and the spatial relationship between two
objects is represented by a force histogram. Matching two scenes then
comes down to comparing force histograms. Each comparison gives a
degree of similarity between the two object pairs considered, as well
as an assessment of the pose parameters. These values can finally be
combined to find a correct scene matching. Experiments on synthetic
data as well as on real data demonstrate the applicability of our
approach.
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