A constraint satisfaction framework with bayesian inference for model-based object recognition

Abstract

A general (application independent) framework for the recognition of partially hidden 3-D objects in images is presented. It views the model-to-image matching as a constraint satisfaction problem (CSP) supported by Bayesian net-based evaluation of partial variable assignments. A modified incremental search for CSP is designed that allows partial solutions and calls for stochastic inference in order to provide judgments of partial states. Hence the detection of partial occlusion of objects is handled consistently with Bayesian inference over evidence and hidden variables. A particular problem of passing different objects to a machine by a human hand is solved while applying the general framework. The conducted experiments deal with the recognition of three objects: a simple cube, a Rubik cube and a tea cup. © 2010 Springer-Verlag Berlin Heidelberg.