The Alignment of Objects with Smooth Surfaces

Abstract
This paper examines the recognition of rigid objects bounded by smooth surfaces, using an alignment approach. The projected image of such an object changes during rotation in a manner that is generally difficult to predict. An approach to this problem is suggested, using the 3-D surface curvature at the points along the silhouette. The curvature information requires a single number for each point along the object's silhouette, the magnitude of the curvature vector at the point. We have implemented this method, and tested it on images of complex 3-D objects. Models of the viewed objects were acquired using three images of each object. The implemented scheme was found to give accurate predictions of the objects' appearance for large transformations. Using this method, a small number of (viewer-centered) models can be used to predict the new appearance of an object from any given viewpoint. (JHD)

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